inline void Narf::copyToNarf36(Narf36& narf36) const
{
if (descriptor_size_ != 36)
{
std::cerr << __PRETTY_FUNCTION__ << ": descriptor size is not 36!\n";
return;
}
getTranslationAndEulerAngles(transformation_.inverse (), narf36.x, narf36.y, narf36.z, narf36.roll, narf36.pitch, narf36.yaw);
memcpy(narf36.descriptor, descriptor_, 36*sizeof(*descriptor_));
}
std::string Transform::prettyPrint() const
{
float x,y,z,roll,pitch,yaw;
getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
return uFormat("xyz=%f,%f,%f rpy=%f,%f,%f", x,y,z, roll,pitch,yaw);
}
