/// <summary>
/// Create a translation and rotation matrix.
/// </summary>
/// <param name="translation">Translation as 3 doubles in a DVector3 struct.</param>
/// <param name="orientation">Orientation as 4 doubles in a DVector4 struct.</param>
/// <returns>Double matrix.</returns>
public static DMatrix4x4 TR(DVector3 translation, DVector4 orientation)
{
double[] dTranslation = new double[3];
double[] dOrientation = new double[4];
dTranslation[0] = translation.x;
dTranslation[1] = translation.y;
dTranslation[2] = translation.z;
dOrientation[0] = orientation.x;
dOrientation[1] = orientation.y;
dOrientation[2] = orientation.z;
dOrientation[3] = orientation.w;
return(DMatrix4x4.TR(dTranslation, dOrientation));
}
/// <summary>
/// Create a translation and rotation matrix.
/// </summary>
/// <param name="translation">Translation as 3 doubles in a TangoTranslation struct.</param>
/// <param name="orientation">Orientation as 4 doubles in a TangoOrientation struct.</param>
/// <returns>Double matrix.</returns>
public static DMatrix4x4 TR(Tango.TangoTranslation translation, Tango.TangoOrientation orientation)
{
double[] dTranslation = new double[3];
double[] dOrientation = new double[4];
dTranslation[0] = translation.x;
dTranslation[1] = translation.y;
dTranslation[2] = translation.z;
dOrientation[0] = orientation.x;
dOrientation[1] = orientation.y;
dOrientation[2] = orientation.z;
dOrientation[3] = orientation.w;
return(DMatrix4x4.TR(dTranslation, dOrientation));
}
