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Added inverse_transform and fixes for Transform 

inverse_transform from #7999
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Daniel 2024-08-01 17:05:36 +02:00 committed by Daraan
parent e9d9a1cd36
commit cdb2664350
2 changed files with 22 additions and 9 deletions
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14
Docs/python_api.md
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@ -2794,14 +2794,18 @@ Describes a rotation for an object according to Unreal Engine's axis system.
- **Parameters:** - **Parameters:**
- `location` (_[carla.Location](#carla.Location)_) - `location` (_[carla.Location](#carla.Location)_)
- `rotation` (_[carla.Rotation](#carla.Rotation)<small> - degrees (pitch, yaw, roll)</small>_) - `rotation` (_[carla.Rotation](#carla.Rotation)<small> - degrees (pitch, yaw, roll)</small>_)
- <a name="carla.Transform.inverse_transform"></a>**<font color="#7fb800">inverse_transform</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**in_point**</font>)
Applies the inverse of `transform` by translating a 3D point in place from global to local coordinates using the current transformation as frame of reference.
- **Parameters:**
- `in_point` (_[carla.Vector3D](#carla.Vector3D)_) - Location in the space to which the inverse transformation will be applied.
- <a name="carla.Transform.transform"></a>**<font color="#7fb800">transform</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**in_point**</font>) - <a name="carla.Transform.transform"></a>**<font color="#7fb800">transform</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**in_point**</font>)
Translates a 3D point from local to global coordinates using the current transformation as frame of reference. Translates a 3D point in place from local to global coordinates using the current transformation as frame of reference.
- **Parameters:** - **Parameters:**
- `in_point` (_[carla.Location](#carla.Location)_) - Location in the space to which the transformation will be applied. - `in_point` (_[carla.Vector3D](#carla.Vector3D)_) - Location in the space to which the transformation will be applied.
- <a name="carla.Transform.transform_vector"></a>**<font color="#7fb800">transform_vector</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**in_vector**</font>) - <a name="carla.Transform.transform_vector"></a>**<font color="#7fb800">transform_vector</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**in_point**</font>)
Rotates a vector using the current transformation as frame of reference, without applying translation. Use this to transform, for example, a velocity. Rotates a vector in place using the current transformation as frame of reference, without applying translation. Use this to transform, for example, a velocity.
- **Parameters:** - **Parameters:**
- `in_vector` (_[carla.Vector3D](#carla.Vector3D)_) - Vector to which the transformation will be applied. - `in_point` (_[carla.Vector3D](#carla.Vector3D)_) - Vector to which the transformation will be applied.
##### Getters ##### Getters
- <a name="carla.Transform.get_forward_vector"></a>**<font color="#7fb800">get_forward_vector</font>**(<font color="#00a6ed">**self**</font>) - <a name="carla.Transform.get_forward_vector"></a>**<font color="#7fb800">get_forward_vector</font>**(<font color="#00a6ed">**self**</font>)

17
PythonAPI/docs/geom.yml
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@ -438,20 +438,29 @@
- def_name: transform - def_name: transform
params: params:
- param_name: in_point - param_name: in_point
type: carla.Location type: carla.Vector3D
doc: > doc: >
Location in the space to which the transformation will be applied. Location in the space to which the transformation will be applied.
doc: > doc: >
Translates a 3D point from local to global coordinates using the current transformation as frame of reference. Translates a 3D point in place from local to global coordinates using the current transformation as frame of reference.
# --------------------------------------
- def_name: inverse_transform
params:
- param_name: in_point
type: carla.Vector3D
doc: >
Location in the space to which the inverse transformation will be applied.
doc: >
Applies the inverse of `transform` by translating a 3D point in place from global to local coordinates using the current transformation as frame of reference.
# -------------------------------------- # --------------------------------------
- def_name: transform_vector - def_name: transform_vector
params: params:
- param_name: in_vector - param_name: in_point
type: carla.Vector3D type: carla.Vector3D
doc: > doc: >
Vector to which the transformation will be applied. Vector to which the transformation will be applied.
doc: > doc: >
Rotates a vector using the current transformation as frame of reference, without applying translation. Use this to transform, for example, a velocity. Rotates a vector in place using the current transformation as frame of reference, without applying translation. Use this to transform, for example, a velocity.
# -------------------------------------- # --------------------------------------
- def_name: get_forward_vector - def_name: get_forward_vector
return: carla.Vector3D return: carla.Vector3D