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

[Jakob Schwendner]

On May 21, 2014 at 10:27 AM Alexander Duda <Alexander.Duda at dfki.de> 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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