esp::geo::CoordinateFrame class
#include <esp/geo/CoordinateFrame.h>

Represents a frame of reference defined by an origin and two semantically meaningful directions: "up" and "front", or equivalently "gravity" and "back"

Constructors, destructors, conversion operators

CoordinateFrame(const Magnum::Vector3& up = ESP_UP, const Magnum::Vector3& front = ESP_FRONT, const Magnum::Vector3& origin = {}) explicit
CoordinateFrame(const Magnum::Quaternion& rotation, const Magnum::Vector3& origin = {}) explicit

Public functions

auto origin() const -> Magnum::Vector3: Returns position of origin of this CoordinateFrame relative to parent.
auto up() const -> Magnum::Vector3: Returns up orientation.
auto gravity() const -> Magnum::Vector3: Returns down/gravity orientation.
auto front() const -> Magnum::Vector3: Returns front orientation.
auto back() const -> Magnum::Vector3: Returns front orientation.
auto rotationWorldToFrame() const -> Magnum::Quaternion
auto rotationFrameToWorld() const -> Magnum::Quaternion
auto toString() const -> std::string: Returns a stringified JSON representation of this CoordinateFrame.

Protected variables

Magnum::Vector3 up_
Magnum::Vector3 front_
Magnum::Vector3 origin_

Function documentation

Magnum::Quaternion esp::geo::CoordinateFrame::rotationWorldToFrame() const

Returns quaternion representing the rotation taking direction vectors in world coordinates to direction vectors in this CoordinateFrame

Magnum::Quaternion esp::geo::CoordinateFrame::rotationFrameToWorld() const

Returns quaternion representing the rotation taking direction vectors in this CoordinateFrame to direction vectors in world coordinates