本文整理汇总了C++中Transform3d::inverse_transform_point方法的典型用法代码示例。如果您正苦于以下问题：C++ Transform3d::inverse_transform_point方法的具体用法？C++ Transform3d::inverse_transform_point怎么用？C++ Transform3d::inverse_transform_point使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Transform3d的用法示例。
在下文中一共展示了Transform3d::inverse_transform_point方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: calc_signed_dist
/// Computes the distance from another sphere primitive
double SpherePrimitive::calc_signed_dist(shared_ptr<const SpherePrimitive> s, Point3d& pthis, Point3d& ps) const
{
// get the transform from s to this
Transform3d T = Pose3d::calc_relative_pose(ps.pose, pthis.pose);
// compute the distance
double d = T.x.norm() - _radius - s->_radius;
// setup sphere centers in alternate frames
Point3d ps_c(0.0, 0.0, 0.0, ps.pose);
Point3d pthis_c(0.0, 0.0, 0.0, pthis.pose);
// setup closest points
pthis = T.transform_point(ps_c);
pthis.normalize();
ps = T.inverse_transform_point(pthis_c);
ps.normalize();
// scale closest points appropriately
if (d > 0.0)
{
pthis *= _radius;
ps *= s->_radius;
}
else
{
pthis *= _radius+d;
ps *= s->_radius+d;
}
return d;
}示例2: calc_signed_dist
/// Gets the distance from a sphere primitive
double PlanePrimitive::calc_signed_dist(shared_ptr<const SpherePrimitive> s, Point3d& pthis, Point3d& ps) const
{
const unsigned Y = 1;
assert(_poses.find(const_pointer_cast<Pose3d>(pthis.pose)) != _poses.end());
// compute the transform from the sphere to the plane
Transform3d T = Pose3d::calc_relative_pose(ps.pose, pthis.pose);
// transform the sphere center to the plane space
Point3d ps_c(0.0, 0.0, 0.0, ps.pose);
Point3d ps_c_this = T.transform_point(ps_c);
// get the lowest point on the sphere (toward the heightmap)
Vector3d vdir(0.0, -1.0*s->get_radius(), 0.0, pthis.pose);
// get the lowest point on the sphere
Point3d sphere_lowest = ps_c_this + vdir;
// setup the point on the plane
pthis = ps_c_this;
pthis[Y] = 0.0;
// get the height of the sphere center
ps = T.inverse_transform_point(sphere_lowest);
return sphere_lowest[Y];
}