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Andreas Bauer
MantleAPI
Commits
cb632132
Commit
cb632132
authored
3 years ago
by
Islam Abed
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MantleAPI/include/MantleAPI/Common/i_geometry_helper.h
+11
-11
11 additions, 11 deletions
MantleAPI/include/MantleAPI/Common/i_geometry_helper.h
MantleAPI/test/MantleAPI/Test/test_utils.h
+3
-3
3 additions, 3 deletions
MantleAPI/test/MantleAPI/Test/test_utils.h
with
14 additions
and
14 deletions
MantleAPI/include/MantleAPI/Common/i_geometry_helper.h
+
11
−
11
View file @
cb632132
...
...
@@ -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 positio
n
/// @param orientation local system orientation
/// @param
local_origin local coordinate system origi
n
/// @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
>&
positio
n
,
const
Orientation3
<
units
::
angle
::
radian_t
>&
orientation
)
const
=
0
;
const
Vec3
<
units
::
length
::
meter_t
>&
local_origi
n
,
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 positio
n
/// @param orientation local system orientation
/// @param
world
_position world position to be transformed
/// @param
local_origin local coordinate system origi
n
/// @param
local_
orientation local system orientation
/// @return transformed point
virtual
Vec3
<
units
::
length
::
meter_t
>
TransformPo
intPo
sitionFromWorldToLocal
(
const
Vec3
<
units
::
length
::
meter_t
>&
point
_position
,
const
Vec3
<
units
::
length
::
meter_t
>&
positio
n
,
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_origi
n
,
const
Orientation3
<
units
::
angle
::
radian_t
>&
local_
orientation
)
const
=
0
;
};
}
// namespace mantle_api
...
...
This diff is collapsed.
Click to expand it.
MantleAPI/test/MantleAPI/Test/test_utils.h
+
3
−
3
View file @
cb632132
...
...
@@ -50,18 +50,18 @@ public:
const
Vec3
<
units
::
length
::
meter_t
>&
position
,
const
Orientation3
<
units
::
angle
::
radian_t
>&
orientation
)
const
{
// do not trans
late
but return original points
// do not trans
form
but return original points
std
::
ignore
=
position
;
std
::
ignore
=
orientation
;
return
polyline_points
;
}
virtual
Vec3
<
units
::
length
::
meter_t
>
TransformPo
intPo
sitionFromWorldToLocal
(
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 trans
late
but return original points
// do not trans
form
but return original points
std
::
ignore
=
position
;
std
::
ignore
=
orientation
;
return
point_position
;
...
...
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