src/libYARP_math/src/YARPRobotMath.cpp
YForce TransForce(const YForce& f,const YHmgTrsf& t)
{
	do {} while (&t == 0);
	return f;

#if 0
	Matrix jt(6,6);
	YForce fret;

	jt=0.0;
	
	jt.SubMatrix(1,3,1,3)=t.Rotation();
	jt.SubMatrix(4,6,4,6)=t.Rotation();
	jt.SubMatrix(1,3,4,6)=-t.Rotation()*(t.Position().CrossMatrix());
	fret=jt.t()*f;
	return fret;
#endif
}
//
// NOT IMPLEMENTED YET. DO NOT USE!
//
NOT IMPLEMENTED YET. DO NOT USE!
NOT IMPLEMENTED YET . DO NOT USE!
YForce TransForce(const YForce& f,const YHmgTrsf& t)
{
	do {} while (&t == 0);
	return f;
#if 0
	Matrix jt(6,6);
	YForce fret;
	jt=0.0;
	jt.SubMatrix(1,3,1,3)=t.Rotation();
	jt.SubMatrix(4,6,4,6)=t.Rotation();
	jt.SubMatrix(1,3,4,6)=-t.Rotation()*(t.Position().CrossMatrix());
	fret=jt.t()*f;
	return fret;
#endif
}
YForce TransForce ( const YForce & f , const YHmgTrsf & t ) { do { } while ( & t == 0 ) ; return f ; #if 0 Matrix jt ( 6 , 6 ) ; YForce fret ; jt = 0.0 ; jt . SubMatrix ( 1 , 3 , 1 , 3 ) = t . Rotation ( ) ; jt . SubMatrix ( 4 , 6 , 4 , 6 ) = t . Rotation ( ) ; jt . SubMatrix ( 1 , 3 , 4 , 6 ) = - t . Rotation ( ) * ( t . Position ( ) . CrossMatrix ( ) ) ; fret = jt . t ( ) * f ; return fret ; #endif }
NOT IMPLEMENTED YET.
NOT IMPLEMENTED YET .