GCC Code Coverage Report


Directory: ./
File: src/math/transform.cpp
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 0 5 0.0%
Branches: 0 16 0.0%

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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2015, Open Source Robotics Foundation
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Open Source Robotics Foundation nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 */
35
36 /** \author Jia Pan */
37
38 #include "coal/math/transform.h"
39
40 namespace coal {
41
42 void relativeTransform(const Transform3s& tf1, const Transform3s& tf2,
43 Transform3s& tf) {
44 tf = tf1.inverseTimes(tf2);
45 }
46
47 void relativeTransform2(const Transform3s& tf1, const Transform3s& tf2,
48 Transform3s& tf) {
49 Matrix3s R(tf2.getRotation() * tf1.getRotation().transpose());
50 tf = Transform3s(R, tf2.getTranslation() - R * tf1.getTranslation());
51 }
52
53 } // namespace coal
54