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Refactoring according to reviewable

This commit is contained in:
manishthani 2019-01-10 14:03:11 +01:00
parent b0984c5f0c
commit 4e341b2b9f
1 changed files with 14 additions and 25 deletions
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39
LibCarla/source/carla/geom/Transform.h
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@ -8,14 +8,13 @@
#include "carla/MsgPack.h"
#include "carla/geom/Location.h"
#include "carla/geom/Rotation.h"
#include "carla/geom/Math.h"
#include "carla/geom/Rotation.h"
#ifdef LIBCARLA_INCLUDED_FROM_UE4
#include "Math/Transform.h"
#endif // LIBCARLA_INCLUDED_FROM_UE4
namespace carla {
namespace geom {
@ -26,30 +25,20 @@ namespace geom {
Transform(const Location &in_location, const Rotation &in_rotation)
: location(in_location),
rotation(in_rotation) {
}
rotation(in_rotation) {}
Location location;
Rotation rotation;
bool operator==(const Transform &rhs) const {
bool operator==(const Transform &rhs) const {
return (location == rhs.location) && (rotation == rhs.rotation);
}
bool operator!=(const Transform &rhs) const {
bool operator!=(const Transform &rhs) const {
return !(*this == rhs);
}
Location GetLocation() const {
return location;
}
Rotation GetRotation() const {
return rotation;
}
inline void TransformPoint (Vector3D &in_point) const {
void TransformPoint(Vector3D &in_point) const {
// Rotate
double cy = cos(Math::to_radians(rotation.yaw));
@ -60,16 +49,16 @@ namespace geom {
double sp = sin(Math::to_radians(rotation.pitch));
Vector3D out_point;
out_point.x = in_point.x * ( cp * cy )
+ in_point.y * ( cy * sp * sr - sy * cr)
+ in_point.z * (-cy * sp * cr - sy * sr);
out_point.y = in_point.x * ( cp * sy)
+ in_point.y * ( sy * sp * sr + cy * cr)
+ in_point.z * (-sy * sp * cr + cy * sr);
out_point.x = in_point.x * (cp * cy) +
in_point.y * (cy * sp * sr - sy * cr) +
in_point.z * (-cy * sp * cr - sy * sr);
out_point.y = in_point.x * (cp * sy) +
in_point.y * (sy * sp * sr + cy * cr) +
in_point.z * (-sy * sp * cr + cy * sr);
out_point.z = in_point.x * (sp)
+ in_point.y * -(cp * sr)
+ in_point.z * (cp * cr);
out_point.z = in_point.x * (sp) +
in_point.y * -(cp * sr) +
in_point.z * (cp * cr);
// Translate
out_point += location;