Hi, there is a change on master how vizkit3d interprets the transformer configuration. The change is necessary because vizkit3d and driver/transfomer were using different ones:
Vizkit3d and driver/transformer are now using the following convention: * All transformations are defined as SOURCE_IN_TARGET frame. Example: static_transform(Eigen::Vector3.new(0.0,0.0,3.0), Eigen::Quaternion.from_euler(Eigen::Vector3.new(Math::PI,0,0),2,1,0),"body" => "world") Meaning: The defined transformation T describes the transformation to convert samples taken in a body coordinate system to a world coordinate system. This is also the reason for its name body_in_world: points_in_body*body_in_world=points_in_world At the same time the transformation T also describes the translation and rotation to convert a world coordinate system to a body coordinate system: body = world*T = world*world_to_body = world*body_in_world world_to_body = body_to_world^(-1) = body_in_world Greets Alex -- Dipl.-Ing. Alexander Duda Unterwasserrobotik Robotics Innovation Center Hauptgeschäftsstelle Standort Bremen: DFKI GmbH Robotics Innovation Center Robert-Hooke-Straße 1 28359 Bremen, Germany Tel.: +49 421 178 45-6620 Zentrale: +49 421 178 45-0 Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen) E-Mail: [email protected] Weitere Informationen: http://www.dfki.de/robotik ----------------------------------------------------------------------- Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster (Vorsitzender) Dr. Walter Olthoff Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes Amtsgericht Kaiserslautern, HRB 2313 Sitz der Gesellschaft: Kaiserslautern (HRB 2313) USt-Id.Nr.: DE 148646973 Steuernummer: 19/673/0060/3 _______________________________________________ Rock-dev mailing list [email protected] http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
