raisim::Transformation

struct · #include <raisim/math.hpp>

Rigid transformation stored as a rotation matrix and a translation.

rot is the orientation of the target frame expressed in the reference frame and pos is the target frame's origin expressed in the reference frame, so a point maps as p_ref =rot* p +pos. Default construction gives the identity transformation.

Constructors & destructor

Transformation

Transformation()

Public attributes

rot

Mat<3, 3> rot

Rotation matrix (orientation of the target frame in the reference frame).

pos

Vec<3> pos

Translation (origin of the target frame in the reference frame).