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On December 10, 2012 at 4:56 PM Matthias Goldhoorn <matthias.goldhoorn@dfki.de> wrote:
<br/>> I'm not sure and couldn't find anything to this in the
<br/>> http://rock.opendfki.de/wiki/WikiStart/Standards RG1
<br/>>
<br/>> Does an Quaternion give the Transformation World2Robot or Robot2World by
<br/>> default.
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A quaternion does not know anything about robots or worlds... At least in imoby we always interpret a pose transforms as body to world, as this is the most intuitive way when setting up the transform, and for some other reasons.
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<br/>> Details:
<br/>> If we wrote an component that assumes an RBS-Orientation q as input.
<br/>> Our Systems want to calculate an world position 1 meter in the front:
<br/>> assume v1(1,0,0)
<br/>> Is then q*v1 the "world" relative position or q.inverse()*v1?
<br/>>
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Lets say you mean that the input to your component is a RigidBodyState which gives you a body to world transform t (as defined above). If v1 is in body coordinates, t * v1 will give you the point v1 in world frame, or if you are just interested in the rotation component q of t, you can of course also do q * v1.
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cheers,
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Jakob
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