예제 #1
0
        public TMatrix2D ToLocalMatrix()
        {
            TMatrix2D mx        = new TMatrix2D(-Rotation);
            Pose2D    merotated = mx * this;

            mx.Translation = -merotated.Position;
            return(mx);
        }
예제 #2
0
        public Pose2D ToGlobal(Pose2D currentOrigin)
        {
            TMatrix2D rotmx = currentOrigin.ToGlobalMatrix();

            return(rotmx * this);
        }
예제 #3
0
        public Pose2D ToLocal(Pose2D targetOrigin)
        {
            TMatrix2D rotmx = targetOrigin.ToLocalMatrix();

            return(rotmx * this);
        }