<div dir="ltr">Can one of you write down all that stuff (wording, exact mathematical meaning, conventions in naming variables in the code, ...) right now (not "later when I have the time") in a document in the "conventions and guidelines part" of the wiki, and refer to it in the doxygen documentation of the RigidBodyState as well as the transformer ?<div>
<br></div><div>Sylvain</div></div><div class="gmail_extra"><br><br><div class="gmail_quote">On Thu, May 22, 2014 at 7:53 PM, Alexander Duda <span dir="ltr"><<a href="mailto:Alexander.Duda@dfki.de" target="_blank">Alexander.Duda@dfki.de</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">Before, the change was made vizikt3d was showing the transformations in<br>
reversed order and was not aligned with the transformer configuration.<br>
This should be fixed by now.<br>
<br>
The only thing you have to do is to correctly configure the transformer.<br>
Nothing has changed here.<br>
<br>
All tranformations are given as source_in_target which is unfortunately<br>
called source_to_target in our code being ambiguous because no one knows<br>
if the transformation is transforming samples or coordinate systems (in<br>
our case samples).<br>
<br>
Alex<br>
<div class="HOEnZb"><div class="h5"><br>
<br>
On 05/22/2014 07:24 PM, Javier Hidalgo Carrió wrote:<br>
> Hi Alex,<br>
><br>
> The visualization stays the same. But the interpretation of the<br>
> transformer configuration changes for vizkit3d only.<br>
>><br>
>> Former:<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),"world"<br>
>><br>
>> => "body")<br>
>><br>
>> must no be written as:<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>
>><br>
>> => "world")<br>
> It works for me when using static transformations. But, regarding<br>
> dynamic transformations:<br>
> Does it also apply to the dynamic transformations given by a rbs on an<br>
> output port?<br>
><br>
> Former:<br>
> dynamic_transform "vicon.pose_samples", "world" => "body"<br>
> with rbs.sourceFrame = "world"<br>
> with rbs.targetFrame = "body"<br>
><br>
> must now be written as:<br>
> dynamic_transform "vicon.pose_samples", "body" => "world"<br>
> with rbs.sourceFrame = "body"<br>
> with rbs.targetFrame = "world"<br>
><br>
> However, in the transformer_broadcaster the frames for dynamic<br>
> transformation are called from_frame and to _frame.<br>
> I am not making it work with the new interpretation. Did anyone<br>
> already try it?<br>
><br>
> Thanks,<br>
><br>
> Javier.<br>
><br>
>><br>
>> to have the same visualization in vizkit3d (this is aligned with the<br>
>> transformer)<br>
>><br>
>> Greets Alex<br>
><br>
><br>
<br>
<br>
</div></div><div class="HOEnZb"><div class="h5">--<br>
Dipl.-Ing. Alexander Duda<br>
Unterwasserrobotik<br>
Robotics Innovation Center<br>
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