void WorkspaceBound::SetTransformed(const WorkspaceBound& w, RigidTransform& T) { T.mulPoint(w.center,center); outerRadius = w.outerRadius; innerRadius = w.innerRadius; maxAngle = w.maxAngle; }
void WorkspaceBound::SetTransformed(const WorkspaceBound& w, RigidTransform& T) { balls.resize(w.balls.size()); for(size_t i=0;i<w.balls.size();i++) { T.mulPoint(w.balls[i].center,balls[i].center); balls[i].outerRadius = w.balls[i].outerRadius; balls[i].innerRadius = w.balls[i].innerRadius; } maxAngle = w.maxAngle; }