`RigidBodyTransformReadOnly` lacks getters to `M00`, `M01`, etc.

ihmcrobotics / euclid

Vector math, geometry, reference frame, and shapes 2D & 3D

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`RigidBodyTransformReadOnly` lacks getters to `M00`, `M01`, etc. #58

Closed calvertdw closed 1 year ago

calvertdw commented 1 year ago

Can the getters to the 4x4 elements become part of the ReadOnly interface?

SylvainBertrand commented 1 year ago

The issue here is that the rotation part of the RigidBodyTransformReadOnly is a Orientation3DReadOnly, so not necessarily a RotationMatrix. This allows Pose3DReadOnly to be a transform.

calvertdw commented 1 year ago

Oh, dang. This is mostly for packing 4x4 matrices to get copied into GPU kernels. Probably could keep a RotationMatrix handy and set if from the Orientation3DReadOnly in RigidBodyTransformReadOnly and use that.