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On May 21, 2014 at 10:27 AM Alexander Duda <Alexander.Duda@dfki.de> wrote:
<br/>> Hi,
<br/>>
<br/>> there is a change on master how vizkit3d interprets the transformer
<br/>> configuration. The change is necessary because vizkit3d and
<br/>> driver/transfomer were using different ones:
<br/>>
<br/>> Vizkit3d and driver/transformer are now using the following convention:
<br/>> * All transformations are defined as SOURCE_IN_TARGET frame.
<br/>>
<br/>> Example:
<br/>> static_transform(Eigen::Vector3.new(0.0,0.0,3.0),
<br/>> Eigen::Quaternion.from_euler(Eigen::Vector3.new(Math::PI,0,0),2,1,0),"body"
<br/>> => "world")
<br/>>
<br/>> Meaning:
<br/>> The defined transformation T describes the transformation to convert
<br/>> samples taken in a body coordinate system to a world coordinate system.
<br/>> This is also the reason for its name body_in_world:
<br/>> points_in_body*body_in_world=points_in_world
<br/>>
<br/>> At the same time the transformation T also describes the translation and
<br/>> rotation to convert a world coordinate system to a body coordinate system:
<br/>> body = world*T = world*world_to_body = world*body_in_world
<br/>> world_to_body = body_to_world^(-1) = body_in_world
<br/>
<br/>
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in all our code we use framea TO frameb as a convention. Changing it to something which uses @in@ is confusing (at least to me) and imho at least requires a discussion before introducing something like that.
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cheers,
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Jakob
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