transformInv

Fully qualified name: isaacsim::core::includes::math::transformInv

inline pxr::GfTransform isaacsim::core::includes::math::transformInv(

const pxr::GfTransform &a,

const pxr::GfTransform &b,

)

Computes the local transform of b relative to transform a.

Calculates the transform that represents b’s pose in a’s local coordinate frame. This is equivalent to inverse(a) * b.

Note

This is the Pixar USD transform version of transformInv()

Parameters:

• a – [in] Reference transform that defines the local coordinate frame

• b – [in] Target transform to be expressed in a’s frame

Returns:

pxr::GfTransform Transform representing b in a’s local frame