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 |