On May 21, 2014 at 10:27 AM Alexander Duda <[email protected]> wrote: > 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
in all our code we use framea TO frameb as a convention. Changing it to something which uses @in@ is confusing (at least to me) and imho at least requires a discussion before introducing something like that. cheers, Jakob
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