<html>
<head>
<meta content="text/html; charset=UTF-8" http-equiv="Content-Type">
</head>
<body text="#000000" bgcolor="#FFFFFF">
<div class="moz-cite-prefix">On 05/21/2014 12:10 PM, Jakob
Schwendner wrote:<br>
</div>
<blockquote
cite="mid:1172561867.51617.1400667059755.JavaMail.open-xchange@ox6.dfki.de"
type="cite">
<meta content="text/html; charset=UTF-8" http-equiv="Content-Type">
<style type="text/css">.mceResizeHandle {position: absolute;border: 1px solid black;background: #FFF;width: 5px;height: 5px;z-index: 10000}.mceResizeHandle:hover {background: #000}img[data-mce-selected] {outline: 1px solid black}img.mceClonedResizable, table.mceClonedResizable {position: absolute;outline: 1px dashed black;opacity: .5;z-index: 10000}
</style>
<div> </div>
<div> On May 21, 2014 at 10:27 AM Alexander Duda
<a class="moz-txt-link-rfc2396E" href="mailto:Alexander.Duda@dfki.de"><Alexander.Duda@dfki.de></a> 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>
</div>
<div> 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. </div>
</blockquote>
<br>
This wording is only used for explanation. All our code stays the
same. But unfortunately the wording framea TO frameb is ambiguous in
this context.<br>
<br>
Alex<br>
<br>
<blockquote
cite="mid:1172561867.51617.1400667059755.JavaMail.open-xchange@ox6.dfki.de"
type="cite">
<div> </div>
<div> cheers, </div>
<div> </div>
<div> Jakob </div>
<div> </div>
<div> </div>
</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">--
Dipl.-Ing. Alexander Duda
Unterwasserrobotik
Robotics Innovation Center
Hauptgeschäftsstelle Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 1
28359 Bremen, Germany
Tel.: +49 421 178 45-6620
Zentrale: +49 421 178 45-0
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:Alexander.Duda@dfki.de">Alexander.Duda@dfki.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.dfki.de/robotik">http://www.dfki.de/robotik</a>
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3 </pre>
</body>
</html>