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 vec3f& up = ESP_UP, const vec3f& front = ESP_FRONT, const vec3f& origin = vec3f::Zero()) explicit
CoordinateFrame(const quatf& rotation, const vec3f& origin = vec3f::Zero()) explicit

Public functions

auto origin() const -> vec3f: Returns position of origin of this CoordinateFrame relative to parent.
auto up() const -> vec3f: Returns up orientation.
auto gravity() const -> vec3f: Returns down/gravity orientation.
auto front() const -> vec3f: Returns front orientation.
auto back() const -> vec3f: Returns front orientation.
auto rotationWorldToFrame() const -> quatf
auto rotationFrameToWorld() const -> quatf
auto transformationWorldToFrame() const -> Transform: Return Transform from world coordinates to local coordinates.
auto toString() const -> std::string: Returns a stringified JSON representation of this CoordinateFrame.

Protected variables

vec3f up_
vec3f front_
vec3f origin_

Function documentation

quatf esp::geo::CoordinateFrame::rotationWorldToFrame() const

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

quatf esp::geo::CoordinateFrame::rotationFrameToWorld() const

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