void Environment3D::worldToPlanner(Transform3D &state) const { MPVec3 pPos = state.getPosition(); this->worldToPlanner(pPos); MPQuaternion pRot = state.getRotation(); this->worldToPlanner(pRot); state.setPosition(pPos); state.setRotation(pRot); }
void Environment3D::plannerToWorld(Transform3D &state) const { MPVec3 wPos = state.getPosition(); this->plannerToWorld(wPos); MPQuaternion wRot = state.getRotation(); this->plannerToWorld(wRot); state.setPosition(wPos); state.setRotation(wRot); }