carla::geom::Transform Class Reference

#include <Transform.h>

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Public Member Functions
Vector3D	GetForwardVector () const
std::array< float, 16 >	GetInverseMatrix () const
	Computes the 4-matrix form of the inverse transformation. More...
std::array< float, 16 >	GetMatrix () const
	Computes the 4-matrix form of the transformation. More...
Vector3D	GetRightVector () const
Vector3D	GetUpVector () const
void	InverseTransformPoint (Vector3D &in_point) const
	Applies the inverse of this transformation to in_point. More...
	MSGPACK_DEFINE_ARRAY (location, rotation)
bool	operator!= (const Transform &rhs) const
bool	operator== (const Transform &rhs) const
	Transform ()=default
	Transform (const Location &in_location)
	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). More...
void	TransformVector (Vector3D &in_vector) const
	Applies this transformation to in_vector (rotation only). More...

Public Attributes
Location	location
Rotation	rotation

Detailed Description

Definition at line 21 of file geom/Transform.h.

Constructor & Destructor Documentation

Transform() [1/3]

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

default

Referenced by operator!=().

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Transform() [2/3]

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

inline

Definition at line 40 of file geom/Transform.h.

Transform() [3/3]

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

inline

Definition at line 44 of file geom/Transform.h.

Member Function Documentation

GetForwardVector()

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

inline

Definition at line 52 of file geom/Transform.h.

References carla::geom::Rotation::GetForwardVector().

Referenced by carla::road::Map::CreateRtree(), carla::client::TrafficLight::GetStopWaypoints(), and carla::traffic_manager::MotionPlanStage::Update().

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GetInverseMatrix()

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

inline

Computes the 4-matrix form of the inverse transformation.

Definition at line 111 of file geom/Transform.h.

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

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GetMatrix()

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

inline

Computes the 4-matrix form of the transformation.

Definition at line 88 of file geom/Transform.h.

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

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GetRightVector()

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

inline

Definition at line 56 of file geom/Transform.h.

References carla::geom::Rotation::GetRightVector().

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GetUpVector()

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

inline

Definition at line 60 of file geom/Transform.h.

References carla::geom::Rotation::GetUpVector().

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InverseTransformPoint()

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

inline

Applies the inverse of this transformation to in_point.

Definition at line 80 of file geom/Transform.h.

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

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

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MSGPACK_DEFINE_ARRAY()

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

operator!=()

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

inline

Definition at line 144 of file geom/Transform.h.

References Transform().

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operator==()

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

inline

Definition at line 140 of file geom/Transform.h.

References location, and rotation.

TransformPoint()

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

inline

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

Definition at line 65 of file geom/Transform.h.

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

Referenced by carla::road::Map::GetAllCrosswalkZones(), carla::client::TrafficLight::GetStopWaypoints(), carla::geom::BoundingBox::GetWorldVertices(), and TEST().

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TransformVector()

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

inline

Applies this transformation to in_vector (rotation only).

Definition at line 73 of file geom/Transform.h.

References carla::geom::Rotation::RotateVector().

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Member Data Documentation

location

Location carla::geom::Transform::location

Definition at line 28 of file geom/Transform.h.

Referenced by carla::road::Map::AddElementToRtree(), carla::nav::Navigation::AddOrUpdateVehicle(), carla::rss::RssCheck::AppendRoutingTarget(), carla::road::MapBuilder::CreateJunctionBoundingBoxes(), carla::rss::RssCheck::CreateWorldModel(), carla::client::detail::Simulator::GetActorLocation(), carla::road::Map::GetAllCrosswalkZones(), carla::rss::RssCheck::GetRoutingTargets(), carla::nav::Navigation::GetWalkerTransform(), InverseTransformPoint(), carla::client::LaneInvasionCallback::MakeBounds(), operator==(), carla::client::detail::Client::SpawnActorWithParent(), TransformPoint(), carla::traffic_manager::MotionPlanStage::Update(), carla::traffic_manager::ALSM::UpdateData(), and carla::traffic_manager::ALSM::UpdateUnregisteredActorsData().

rotation

Rotation carla::geom::Transform::rotation

Definition at line 30 of file geom/Transform.h.

Referenced by carla::nav::Navigation::AddOrUpdateVehicle(), carla::road::Map::GetAllCrosswalkZones(), carla::rss::RssCheck::GetSpeed(), carla::nav::Navigation::GetWalkerTransform(), carla::client::LaneInvasionCallback::MakeBounds(), operator==(), carla::traffic_manager::MotionPlanStage::Update(), carla::traffic_manager::ALSM::UpdateData(), and carla::traffic_manager::ALSM::UpdateUnregisteredActorsData().

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

• geom/Transform.h