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

[Javier Hidalgo Carrió]

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.
Just for the small difference that in reality  (in a mathematical 
meaning) is
point_b = (a2b)^-1 * point_a

What you are calling a2b in reality is b2a in terms of transforming 
frames (b2a = (a2b)^-1 )
In your case you are not transforming frames you are transforming points 
expressed in frames. This is what Alex called as "Source in target" 
thing. It is not more than "a expressed with respect to b" which is b2a.

I hope it helps

Javier.
> Greetings
>      Janosch
>
> 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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