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

[Sylvain Joyeux]

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 <Alexander.Duda at dfki.de>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
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