.. _basic.Transform3D:

basic.Transform3D
=================

.. cpp:namespace:: basic::Transform3D

Class
-----

`Transform3D` represents a 2D/3D transformation from a specified coordinate system to another.
It can be described by a 4x4 matrix that transforms a 3D vector from the source coordinate system to the target coordinate system.


Fields
------

.. cpp:member:: long time
	
	POSIX timestamp in [usec].
	
.. cpp:member:: string frame
	
	Source coordinate system name.
	
.. cpp:member:: string parent
	
	Target coordinate system name.
	
.. cpp:member:: Matrix4d matrix
	
	The transformation matrix, such that left multiplying a vector
	transforms it from the source coordinate system ``frame`` to the target coordinate system ``parent``.
	For example: target = matrix * [x, y, z, 1]^T.
	See :ref:`math.Matrix4d`.