On 05/21/2014 12:10 PM, Jakob Schwendner wrote:
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.
This wording is only used for explanation. All our code stays the same.
But unfortunately the wording framea TO frameb is ambiguous in this context.
Alex
cheers,
Jakob
--
Dipl.-Ing. Alexander Duda
Unterwasserrobotik
Robotics Innovation Center
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