A rigid transform in CARLA's / Unreal's left-handed frame: x forward, y right, z up, metres, with a Rotation in degrees. More...

#include <Transform.h>

Public Member Functions
Vector3D	GetForwardVector () const

std::array< float, 16 >	GetInverseMatrix () const
	Computes the 4-matrix form of the inverse transformation.

std::array< float, 16 >	GetMatrix () const
	Computes the 4-matrix form of the transformation.

Vector3D	GetRightVector () const

Vector3D	GetUpVector () const

void	InverseTransformPoint (Vector3D &in_point) const
	Applies the inverse of this transformation to in_point.

	MSGPACK_DEFINE_ARRAY (location, rotation)

	operator FTransform () const

bool	operator!= (const Transform &rhs) const

bool	operator== (const Transform &rhs) const

constexpr RightHandedTransform	ToRightHanded () const
	This transform expressed in a right-handed, x-forward / y-left / z-up frame (ROS REP-103 "FLU").

	Transform ()=default

	Transform (const FTransform &transform)

	Transform (const Location &in_location)

constexpr	Transform (const Location &in_location, const Rotation &in_rotation)

void	TransformPoint (Vector3D &in_point) const
	Applies this transformation to in_point (first translation then rotation).

void	TransformVector (Vector3D &in_vector) const
	Applies this transformation to in_vector (rotation only).

Static Public Member Functions
static constexpr Transform	FromRightHanded (const RightHandedTransform &rhs)
	Inverse of `ToRightHanded()`: reads a right-handed (FLU) pose back into CARLA's left-handed frame.

Public Attributes
Location	location

Rotation	rotation

Detailed Description

A rigid transform in CARLA's / Unreal's left-handed frame: x forward, y right, z up, metres, with a Rotation in degrees.

GetMatrix(), GetForwardVector() and friends are all in that frame – they are not "uncorrected" right-handed math and must not be flipped. To hand a pose to a ROS / REP-103 consumer, convert explicitly with ToRightHanded(); see RightHandedTransform and Docs/coordinate_conventions.md.

Definition at line 32 of file geom/Transform.h.

Constructor & Destructor Documentation

◆ Transform() [1/4]

carla::geom::Transform::Transform ( )

default

Referenced by FromRightHanded().

◆ Transform() [2/4]

carla::geom::Transform::Transform ( const Location & in_location )

inline

Definition at line 51 of file geom/Transform.h.

◆ Transform() [3/4]

constexpr carla::geom::Transform::Transform	(	const Location &	in_location,
		const Rotation &	in_rotation
	)

inlineconstexpr

Definition at line 55 of file geom/Transform.h.

◆ Transform() [4/4]

carla::geom::Transform::Transform ( const FTransform & transform )

inline

Definition at line 195 of file geom/Transform.h.

Member Function Documentation

◆ FromRightHanded()

static constexpr Transform carla::geom::Transform::FromRightHanded ( const RightHandedTransform & rhs )

inlinestaticconstexpr

Inverse of ToRightHanded(): reads a right-handed (FLU) pose back into CARLA's left-handed frame.

The mapping is an involution.

Definition at line 171 of file geom/Transform.h.

References carla::geom::Rotation::FromRightHanded(), carla::geom::Location::FromRightHanded(), carla::geom::RightHandedTransform::location, carla::geom::RightHandedTransform::rotation, and Transform().

Referenced by TEST().

◆ GetForwardVector()

Vector3D carla::geom::Transform::GetForwardVector ( ) const

inline

Definition at line 63 of file geom/Transform.h.

References carla::geom::Rotation::GetForwardVector(), and rotation.

Referenced by FCarlaServer::FPimpl::BindActions(), carla::road::Map::CreateRtree(), carla::client::TrafficSign::GetStopWaypoints(), carla::agents::navigation::IsWithinDistance(), carla::traffic_manager::MotionPlanStage::Update(), and carla::agents::navigation::BasicAgent::VehicleObstacleDetected().

◆ GetInverseMatrix()

std::array< float, 16 > carla::geom::Transform::GetInverseMatrix ( ) const

inline

Computes the 4-matrix form of the inverse transformation.

Rows are the transpose of the forward rotation; translation component pulled from InverseTransformPoint(origin) to keep both helpers consistent.

Definition at line 128 of file geom/Transform.h.

References InverseTransformPoint(), carla::geom::Rotation::pitch, carla::geom::Rotation::roll, rotation, carla::geom::Math::ToRadians(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, carla::geom::Rotation::yaw, and carla::geom::Vector3D::z.

◆ GetMatrix()

std::array< float, 16 > carla::geom::Transform::GetMatrix ( ) const

inline

Computes the 4-matrix form of the transformation.

Sign convention matches Rotation::RotateVector and the engine: +pitch puts +sin(pitch) on row 2 column 0 (forward axis tilts up), +roll puts -cos(pitch) * sin(roll) on row 2 column 1 (right axis tilts down). Verified against rendered camera frames on UE5.8 (2026-08-27).

Definition at line 103 of file geom/Transform.h.

References location, carla::geom::Rotation::pitch, carla::geom::Rotation::roll, rotation, carla::geom::Math::ToRadians(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, carla::geom::Rotation::yaw, and carla::geom::Vector3D::z.

◆ GetRightVector()

Vector3D carla::geom::Transform::GetRightVector ( ) const

inline

Definition at line 67 of file geom/Transform.h.

References carla::geom::Rotation::GetRightVector(), and rotation.

◆ GetUpVector()

Vector3D carla::geom::Transform::GetUpVector ( ) const

inline

Definition at line 71 of file geom/Transform.h.

References carla::geom::Rotation::GetUpVector(), and rotation.

◆ InverseTransformPoint()

void carla::geom::Transform::InverseTransformPoint ( Vector3D & in_point ) const

inline

Applies the inverse of this transformation to in_point.

Definition at line 91 of file geom/Transform.h.

References carla::geom::Rotation::InverseRotateVector(), location, and rotation.

Referenced by carla::geom::BoundingBox::Contains(), GetInverseMatrix(), and TEST().

◆ MSGPACK_DEFINE_ARRAY()

carla::geom::Transform::MSGPACK_DEFINE_ARRAY	(	location	,
		rotation
	)

◆ operator FTransform()

carla::geom::Transform::operator FTransform ( ) const

inline

Definition at line 198 of file geom/Transform.h.

References location, and rotation.

◆ operator!=()

bool carla::geom::Transform::operator!= ( const Transform & rhs ) const

inline

Definition at line 185 of file geom/Transform.h.

◆ operator==()

bool carla::geom::Transform::operator== ( const Transform & rhs ) const

inline

Definition at line 181 of file geom/Transform.h.

References location, and rotation.

◆ ToRightHanded()

constexpr RightHandedTransform carla::geom::Transform::ToRightHanded ( ) const

inlineconstexpr

This transform expressed in a right-handed, x-forward / y-**left** / z-up frame (ROS REP-103 "FLU").

location becomes (x, -y, z) and rotation becomes (roll, -pitch, -yaw); equivalently the pose matrix becomes S * GetMatrix() * S with S = diag(1, -1, 1, 1).

Definition at line 163 of file geom/Transform.h.

References location, rotation, carla::geom::Location::ToRightHanded(), and carla::geom::Rotation::ToRightHanded().

◆ TransformPoint()

void carla::geom::Transform::TransformPoint ( Vector3D & in_point ) const

inline

Applies this transformation to in_point (first translation then rotation).

Definition at line 76 of file geom/Transform.h.

References location, carla::geom::Rotation::RotateVector(), and rotation.

Referenced by carla::road::Map::GetAllCrosswalkZones(), carla::client::TrafficSign::GetStopWaypoints(), carla::agents::navigation::GetTrafficLightTriggerLocation(), TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

◆ TransformVector()

void carla::geom::Transform::TransformVector ( Vector3D & in_vector ) const

inline

Applies this transformation to in_vector (rotation only).

Definition at line 84 of file geom/Transform.h.

References carla::geom::Rotation::RotateVector(), and rotation.

Member Data Documentation

◆ location

Location carla::geom::Transform::location

Definition at line 39 of file geom/Transform.h.

Referenced by carla::road::Map::AddElementToRtree(), carla::nav::Navigation::AddOrUpdateVehicle(), carla::rss::RssCheck::AppendRoutingTarget(), carla::road::ComputeDuplicateTraceRoads(), carla::road::MapBuilder::CreateJunctionBoundingBoxes(), carla::rss::RssCheck::CreateWorldModel(), carla::agents::navigation::DistanceVehicle(), carla::road::Map::FilterRoadsByPosition(), carla::road::Map::GenerateSingleJunction(), carla::client::detail::Simulator::GetActorLocation(), carla::road::Map::GetAllCrosswalkZones(), GetClosestTrafficSignActor(), GetMatrix(), carla::rss::RssCheck::GetRoutingTargets(), carla::nav::Navigation::GetWalkerTransform(), carla::road::Map::GetWaypoint(), InverseTransformPoint(), carla::agents::navigation::IsWithinDistance(), carla::client::LaneInvasionCallback::MakeBounds(), operator FTransform(), operator==(), carla::ros2::ROS2::ProcessDataFromAutowareGNSS(), carla::ros2::ROS2::PublishTransform(), carla::road::Map::SDFToMesh(), carla::client::detail::Client::SpawnActorWithParent(), TEST(), ToRightHanded(), TransformPoint(), carla::traffic_manager::MotionPlanStage::Update(), carla::traffic_manager::ALSM::UpdateData(), carla::traffic_manager::ALSM::UpdateUnregisteredActorsData(), and carla::agents::navigation::BasicAgent::VehicleObstacleDetected().

◆ rotation

Rotation carla::geom::Transform::rotation

The documentation for this class was generated from the following file:

geom/Transform.h

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Transform() [1/4]

◆ Transform() [2/4]

◆ Transform() [3/4]

◆ Transform() [4/4]

Member Function Documentation

◆ FromRightHanded()

◆ GetForwardVector()

◆ GetInverseMatrix()

◆ GetMatrix()

◆ GetRightVector()

◆ GetUpVector()

◆ InverseTransformPoint()

◆ MSGPACK_DEFINE_ARRAY()

◆ operator FTransform()

◆ operator!=()

◆ operator==()

◆ ToRightHanded()

◆ TransformPoint()

◆ TransformVector()

Member Data Documentation

◆ location

◆ rotation