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Commit cb632132 authored by Islam Abed's avatar Islam Abed
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Address review comments

parent fde7bd3f
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......@@ -41,23 +41,23 @@ public:
/// @brief Transforms world polyline positions to local coordinate system.
/// @param polyline_points world polyline points to be transformed
/// @param position local system position
/// @param orientation local system orientation
/// @param local_origin local coordinate system origin
/// @param local_orientation local system orientation
/// @return converted polyline points
virtual std::vector<Vec3<units::length::meter_t>> TransformPolylinePointsFromWorldToLocal(
const std::vector<Vec3<units::length::meter_t>>& polyline_points,
const Vec3<units::length::meter_t>& position,
const Orientation3<units::angle::radian_t>& orientation) const = 0;
const Vec3<units::length::meter_t>& local_origin,
const Orientation3<units::angle::radian_t>& local_orientation) const = 0;
/// @brief Transforms world position to local coordinate system.
/// @param point_position world point position to be transformed
/// @param position local system position
/// @param orientation local system orientation
/// @param world_position world position to be transformed
/// @param local_origin local coordinate system origin
/// @param local_orientation local system orientation
/// @return transformed point
virtual Vec3<units::length::meter_t> TransformPointPositionFromWorldToLocal(
const Vec3<units::length::meter_t>& point_position,
const Vec3<units::length::meter_t>& position,
const Orientation3<units::angle::radian_t>& orientation) const = 0;
virtual Vec3<units::length::meter_t> TransformPositionFromWorldToLocal(
const Vec3<units::length::meter_t>& world_position,
const Vec3<units::length::meter_t>& local_origin,
const Orientation3<units::angle::radian_t>& local_orientation) const = 0;
};
} // namespace mantle_api
......
......@@ -50,18 +50,18 @@ public:
const Vec3<units::length::meter_t>& position,
const Orientation3<units::angle::radian_t>& orientation) const
{
// do not translate but return original points
// do not transform but return original points
std::ignore = position;
std::ignore = orientation;
return polyline_points;
}
virtual Vec3<units::length::meter_t> TransformPointPositionFromWorldToLocal(
virtual Vec3<units::length::meter_t> TransformPositionFromWorldToLocal(
const Vec3<units::length::meter_t>& point_position,
const Vec3<units::length::meter_t>& position,
const Orientation3<units::angle::radian_t>& orientation) const
{
// do not translate but return original points
// do not transform but return original points
std::ignore = position;
std::ignore = orientation;
return point_position;
......
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