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

[Alexander Duda]

On 05/23/2014 03:07 PM, Janosch Machowinski wrote:
> Sorry Guys,
> but I don't get your source in target thing.
> All our transformations are simply a transformation from a frame
> A to a frame B. This corresponds with the naming scheme of source and
> target and 'body2Odometry'
> Also
> Point_b = a2b * Point_a
> is for me a completely logical way of writing this down.
> Greetings
>      Janosch

No, they are not transformations of frames they are the transformation 
of samples (which is the inverse) and this is exactly the reason why a2b 
is a bad naming.

I updated the wiki for dynamic transformations. There is  no different 
between static and dynamic transformations. Also the visualization of 
the RigidBodyState should be according to ainb (in the source code 
called a2b because of historical reason but the meaning is the same ). 
If this is not the case then there is a mistake which has to be fixed.

Alex

>
> On 23.05.2014 14:39, Javier Hidalgo Carrió wrote:
>> Hi Alex,
>> Thanks for taking the initiative. It is clear to me and there is not 
>> doubt when using static transformations.
>> However, I added the case when using dynamic transformations. Please 
>> fill free to edit as well.
>>
>> Javier.
>>
>>
>> On 05/23/2014 12:23 PM, Alexander Duda wrote:
>>> https://rock.opendfki.de/wiki/WikiStart/Standards/RG10
>>> Feel free to edit it.
>>>
>>> Alex
>>
>>
>>
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>
>
>
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