[Rock-dev] vizkit3d: fixing interpretation of transformer configuration

[Alexander Duda]

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


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Dipl.-Ing. Alexander Duda
Unterwasserrobotik
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