public TMatrix2D ToLocalMatrix()
{
TMatrix2D mx = new TMatrix2D(-Rotation);
Pose2D merotated = mx * this;
mx.Translation = -merotated.Position;
return(mx);
}
public Pose2D ToGlobal(Pose2D currentOrigin)
{
TMatrix2D rotmx = currentOrigin.ToGlobalMatrix();
return(rotmx * this);
}
public Pose2D ToLocal(Pose2D targetOrigin)
{
TMatrix2D rotmx = targetOrigin.ToLocalMatrix();
return(rotmx * this);
}