本文整理汇总了C++中Transform3d::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::transform_point方法的具体用法?C++ Transform3d::transform_point怎么用?C++ Transform3d::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::transform_point方法的6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: transform
/// Transforms the given triangle using the specified pose
Triangle Triangle::transform(const Triangle& t, const Transform3d& m)
{
Point3d a = m.transform_point(t.a);
Point3d b = m.transform_point(t.b);
Point3d c = m.transform_point(t.c);
return Triangle(a, b, c);
}
示例2: post_step_callback
// setup simulator callback
void post_step_callback(Simulator* sim)
{
const unsigned X = 0, Y = 1, Z = 2;
// setup the box height
const double H = 1.0;
// get the bottoms of the box
Transform3d wTs = Pose3d::calc_relative_pose(box->get_pose(), GLOBAL);
Vector3d p1 = wTs.transform_point(Vector3d(-.5, -.5, -.5, box->get_pose()));
Vector3d p2 = wTs.transform_point(Vector3d(-.5, -.5, .5, box->get_pose()));
Vector3d p3 = wTs.transform_point(Vector3d(.5, -.5, -.5, box->get_pose()));
Vector3d p4 = wTs.transform_point(Vector3d(.5, -.5, .5, box->get_pose()));
// get the bottoms of the box in the global frame
shared_ptr<Pose3d> P1(new Pose3d), P2(new Pose3d), P3(new Pose3d), P4(new Pose3d);
P1->x = Origin3d(p1);
P2->x = Origin3d(p2);
P3->x = Origin3d(p3);
P4->x = Origin3d(p4);
// get the velocity of the box at the contact points
SVelocityd v = box->get_velocity();
Vector3d xd1 = Pose3d::calc_relative_pose(v.pose, P1).transform(v).get_linear();
Vector3d xd2 = Pose3d::calc_relative_pose(v.pose, P2).transform(v).get_linear();
Vector3d xd3 = Pose3d::calc_relative_pose(v.pose, P3).transform(v).get_linear();
Vector3d xd4 = Pose3d::calc_relative_pose(v.pose, P4).transform(v).get_linear();
/*
SVelocityd v = box->get_velocity();
Origin3d xd(v.get_linear());
Origin3d omega(v.get_angular());
Origin3d s(1.0, 0.0, 0.0);
Origin3d t(0.0, 1.0, 0.0);
Origin3d crosss = Origin3d::cross(-wTs.x, s);
Origin3d crosst = Origin3d::cross(-wTs.x, t);
*/
// output the sliding velocity at the contact
std::ofstream out("contactv.dat", std::ostream::app);
out << sim->current_time << " " << xd1[X] << " " << xd1[Y] << " " << xd2[X] << " " << xd2[Y] << " " << xd3[X] << " " << xd3[Y] << " " << xd4[X] << " " << xd4[Y] << std::endl;
// out << sim->current_time << " " << (s.dot(xd) + crosss.dot(omega)) << " " << (t.dot(xd) + crosst.dot(omega)) << std::endl;
// out << sim->current_time << " " << v[3] << " " << v[4] << " " << v[5] << " " << v[0] << " " << v[1] << " " << v[2] << std::endl;
out.close();
out.open("ke.dat", std::ostream::app);
out << sim->current_time << " " << box->calc_kinetic_energy() << std::endl;
out.close();
}
示例3: intersects
/// Tests intersection between a SSR and a SSL
bool BV::intersects(const SSR* A, const SSL* B, const Transform3d& aTb)
{
Point3d Bp1 = aTb.transform_point(B->p1);
Point3d Bp2 = aTb.transform_point(B->p2);
double dist = SSR::calc_dist(*A, LineSeg3(Bp1, Bp2));
return dist <= B->radius;
}
示例4: 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5: 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];
}
示例6: transform
/// Transforms the BoundingSphere using the given transform
void BoundingSphere::transform(const Transform3d& T, BV* result) const
{
// get the BoundingSphere
BoundingSphere& s = *((BoundingSphere*) result);
// copy this
s = *this;
// transform the center
s.center = T.transform_point(center);
}