24 #ifndef __GEOMETRY_TRANSFORM_H_
25 #define __GEOMETRY_TRANSFORM_H_
27 #include <geometry/matrix.h>
47 void trans(
float dx,
float dy,
float dz = 0.0);
48 void set_trans(
float x,
float y,
float z = 0.0);
50 void mDH(
const float alpha,
const float a,
const float theta,
const float d);
54 template <
typename T> T
operator*(
const T& p)
const;
60 const char* col_sep = 0,
61 const char* row_sep = 0 )
const;
76 result.transform(*
this);