| 814 |
|
*/ |
| 815 |
|
Vector3d lab2Body(const Vector3d& v) { |
| 816 |
|
return getA() * v; |
| 817 |
+ |
} |
| 818 |
+ |
|
| 819 |
+ |
Vector3d lab2Body(const Vector3d& v, int frame) { |
| 820 |
+ |
return getA(frame) * v; |
| 821 |
|
} |
| 822 |
|
|
| 823 |
|
/** |
| 828 |
|
Vector3d body2Lab(const Vector3d& v){ |
| 829 |
|
return getA().transpose() * v; |
| 830 |
|
} |
| 831 |
+ |
|
| 832 |
+ |
Vector3d body2Lab(const Vector3d& v, int frame){ |
| 833 |
+ |
return getA(frame).transpose() * v; |
| 834 |
+ |
} |
| 835 |
|
/** |
| 836 |
|
* <p> |
| 837 |
|
* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |