/*
* Copyright (C) 2011-2015, Peter Abeles. All Rights Reserved.
*
* This file is part of Geometric Regression Library (GeoRegression).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package georegression.examples;
import georegression.struct.se.Se2_F64;
import georegression.transform.InvertibleTransformSequence;
/**
* Demonstrates how to easily compute the result of applying multiple transforms in a sequence
*
* @author Peter Abeles
*/
public class ExampleTransformSequence {
public static void main(String[] args) {
InvertibleTransformSequence<Se2_F64> sequence = new InvertibleTransformSequence<Se2_F64>();
// add a few easy to understand transforms
sequence.addTransform(true,new Se2_F64(2,0,0));
sequence.addTransform(true,new Se2_F64(3,0,0));
sequence.addTransform(false,new Se2_F64(0,4,0));
Se2_F64 result = new Se2_F64();
sequence.computeTransform(result);
// should be (x=5,y=-4,yaw=0)
result.print();
}
}