Can one of you write down all that stuff (wording, exact mathematical meaning, conventions in naming variables in the code, ...) right now (not "later when I have the time") in a document in the "conventions and guidelines part" of the wiki, and refer to it in the doxygen documentation of the RigidBodyState as well as the transformer ?
Sylvain On Thu, May 22, 2014 at 7:53 PM, Alexander Duda <[email protected]>wrote: > Before, the change was made vizikt3d was showing the transformations in > reversed order and was not aligned with the transformer configuration. > This should be fixed by now. > > The only thing you have to do is to correctly configure the transformer. > Nothing has changed here. > > All tranformations are given as source_in_target which is unfortunately > called source_to_target in our code being ambiguous because no one knows > if the transformation is transforming samples or coordinate systems (in > our case samples). > > Alex > > > On 05/22/2014 07:24 PM, Javier Hidalgo Carrió wrote: > > Hi Alex, > > > > The visualization stays the same. But the interpretation of the > > transformer configuration changes for vizkit3d only. > >> > >> Former: > >> 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),"world" > >> > >> => "body") > >> > >> must no be written as: > >> 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") > > It works for me when using static transformations. But, regarding > > dynamic transformations: > > Does it also apply to the dynamic transformations given by a rbs on an > > output port? > > > > Former: > > dynamic_transform "vicon.pose_samples", "world" => "body" > > with rbs.sourceFrame = "world" > > with rbs.targetFrame = "body" > > > > must now be written as: > > dynamic_transform "vicon.pose_samples", "body" => "world" > > with rbs.sourceFrame = "body" > > with rbs.targetFrame = "world" > > > > However, in the transformer_broadcaster the frames for dynamic > > transformation are called from_frame and to _frame. > > I am not making it work with the new interpretation. Did anyone > > already try it? > > > > Thanks, > > > > Javier. > > > >> > >> to have the same visualization in vizkit3d (this is aligned with the > >> transformer) > >> > >> 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 >
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