/// This function transforms a frame from the parent coordinate
/// system to 'this' local frame coordinate system.
/// \return The frame in local frame coordinate
public virtual void TransformParentToLocal(
ChFrame <Real> parent, //< frame to transform, given in parent coordinates
ChFrame <Real> local //< transformed frame, in local coordinates, will be stored here
)
{
local.SetCoord(TransformParentToLocal(parent.coord.pos), coord.rot.GetConjugate() % parent.coord.rot);
}
/// This function transforms a frame from 'this' local coordinate
/// system to parent frame coordinate system.
/// \return The frame in parent frame coordinate
public void TransformLocalToParent(
ChFrame <Real> local, //< frame to transform, given in local frame coordinates
ChFrame <Real> parent //< transformed frame, in parent coordinates, will be stored here
)
{
parent.SetCoord(TransformLocalToParent(local.coord.pos), coord.rot % local.coord.rot);
}