Exposing the 4-matrix form of the transformation

to the client API

LibCarla/source/carla/geom/Transform.h

@@ -77,6 +77,30 @@ namespace geom {
       in_point = out_point;
     }
 
+    std::array<float, 16> GetMatrix() const {
+      const float yaw = rotation.yaw;
+      const float cy = std::cos(Math::ToRadians(yaw));
+      const float sy = std::sin(Math::ToRadians(yaw));
+
+      const float roll = rotation.roll;
+      const float cr = std::cos(Math::ToRadians(roll));
+      const float sr = std::sin(Math::ToRadians(roll));
+
+      const float pitch = rotation.pitch;
+      const float cp = std::cos(Math::ToRadians(pitch));
+      const float sp = std::sin(Math::ToRadians(pitch));
+
+      std::array<float, 16> transform = {
+          cp * cy, cy * sp * sr - sy * cr, -cy * sp * cr - sy * sr, location.x,
+          cp * sy, sy * sp * sr + cy * cr, -sy * sp * cr + cy * sr, location.y,
+          sp, -cp * sr, cp * cr, location.z,
+          0.0, 0.0, 0.0, 1.0};
+
+      return transform;
+    }
+
+
+
     // =========================================================================
     // -- Comparison operators -------------------------------------------------
     // =========================================================================

PythonAPI/carla/source/libcarla/Geom.cpp

@@ -86,6 +86,36 @@ static void TransformList(const carla::geom::Transform &self, boost::python::lis
   }
 }
 
+static auto GetTransformMatrix(const carla::geom::Transform &self) {
+  const std::array<float, 16> tr = self.GetMatrix();
+  boost::python::list py_tranf;
+  boost::python::list rows[4];
+
+  rows[0].append(tr[0]);
+  rows[0].append(tr[1]);
+  rows[0].append(tr[2]);
+  rows[0].append(tr[3]);
+  rows[1].append(tr[4]);
+  rows[1].append(tr[5]);
+  rows[1].append(tr[6]);
+  rows[1].append(tr[7]);
+  rows[2].append(tr[8]);
+  rows[2].append(tr[9]);
+  rows[2].append(tr[10]);
+  rows[2].append(tr[11]);
+  rows[3].append(tr[12]);
+  rows[3].append(tr[13]);
+  rows[3].append(tr[14]);
+  rows[3].append(tr[15]);
+
+  py_tranf.append(rows[0]);
+  py_tranf.append(rows[1]);
+  py_tranf.append(rows[2]);
+  py_tranf.append(rows[3]);
+
+  return py_tranf;
+}
+
 void export_geom() {
   using namespace boost::python;
   namespace cg = carla::geom;
@@ -175,6 +205,7 @@ void export_geom() {
     .def("get_forward_vector", &cg::Transform::GetForwardVector)
     .def("get_right_vector", &cg::Transform::GetRightVector)
     .def("get_up_vector", &cg::Transform::GetUpVector)
+    .def("get_matrix", &GetTransformMatrix)
     .def("__eq__", &cg::Transform::operator==)
     .def("__ne__", &cg::Transform::operator!=)
     .def(self_ns::str(self_ns::self))