TYPE SMC_Frame : STRUCT
A frame represents a coordinate system given by the orientation of the axes and and origin vector. The representation of the coordinate system is always expressed relative to a base coordinate system.
Another interpretation of a frame is the unique transformation between the base coordinate system B and the represented coordinate system F, a map from B to F given by F(v) = mR * v + vT.
InOut:
|
Name |
Type |
Comment |
|
mR |
The orientation of the axes. Each column is a unit vector describing the direction of a coordinate axis of F, expressed in base coordinates. |
|
|
vT |
The offset of the origin in base coordinates. |
