main/src/georegression/transform/se/SePointOps_F64.java
public static Point2D_F64 transform( Se2_F64 se, Point2D_F64 orig, Point2D_F64 result ) {

		if( result == null ) {
			result = new Point2D_F64();
		}

		final double c = se.getCosineYaw();
		final double s = se.getSineYaw();

		// copy the values so that no errors happen if orig and result are the same instance
		double x = orig.x;
		double y = orig.y;

		result.x = se.getX() + x * c - y * s;
		result.y = se.getY() + x * s + y * c;

		return result;
	}
public static Point2D_F64 transform( Se2_F64 se, Point2D_F64 orig, Point2D_F64 result ) {

		if( result == null ) {
			result = new Point2D_F64();
		}

		final double c = se.getCosineYaw();
		final double s = se.getSineYaw();

		// copy the values so that no errors happen if orig and result are the same instance
		double x = orig.x;
		double y = orig.y;

		result.x = se.getX() + x * c - y * s;
		result.y = se.getY() + x * s + y * c;

		return result;
	}
Applies a 2D special euclidean transform to the point and stores the results in another
variable.

@param se	 The transform.
@param orig   Original point being transformed. Not modified.
@param result Where the results are stored.  Can be the same as orig. If null a new
instance is created. Modified.
@return Transformed point.