getRelativeTransform

Fully qualified name: isaacsim::core::includes::pose::getRelativeTransform

inline usdrt::GfMatrix4d isaacsim::core::includes::pose::getRelativeTransform(

pxr::UsdStageRefPtr usdStage,

usdrt::UsdStageRefPtr usdrtStage,

const pxr::SdfPath &sourcePrim,

const pxr::SdfPath &targetPrim,

)

Computes the relative transform matrix between two prims.

Calculates the transform that converts coordinates from the source prim’s frame to the target prim’s frame. The computation follows these steps:

1. Compute world transforms for both source and target prims

2. Invert the target’s world transform

3. Multiply to get the relative transform

Note

The returned matrix is in column-major format

Warning

Ensure both prims exist in the stage before calling

Parameters:

• usdStage – [in] Reference to the USD stage

• usdrtStage – [in] Reference to the USDRT stage

• sourcePrim – [in] Path to the source prim

• targetPrim – [in] Path to the target prim

Returns:

usdrt::GfMatrix4d The relative transform matrix (column-major)