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

[Alexander Duda]

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
>
>


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Dipl.-Ing. Alexander Duda
Unterwasserrobotik
Robotics Innovation Center

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