https://rock.opendfki.de/wiki/WikiStart/Standards/RG10
Feel free to edit it.
Alex
On 05/22/2014 08:51 PM, Sylvain Joyeux wrote:
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] <mailto:[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 <tel:%2B49%20421%20178%2045-6620>
Zentrale: +49 421 178 45-0 <tel:%2B49%20421%20178%2045-0>
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bitte namentlich kennzeichnen)
E-Mail: [email protected] <mailto:[email protected]>
Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
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Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
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--
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
