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<a href="https://rock.opendfki.de/wiki/WikiStart/Standards/RG10">https://rock.opendfki.de/wiki/WikiStart/Standards/RG10</a><br>
Feel free to edit it.<br>
<br>
Alex<br>
<br>
<br>
On 05/22/2014 08:51 PM, Sylvain Joyeux wrote:<br>
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cite="mid:20140522185158.4FCE0B1541_37E474EB@sea-mail.dfki.de"
type="cite">
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<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 ?
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<br>
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<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 moz-do-not-send="true"
href="mailto:Alexander.Duda@dfki.de" target="_blank">Alexander.Duda@dfki.de</a>></span>
wrote:<br>
<blockquote class="gmail_quote">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>
<br>
Hauptgeschäftsstelle Standort Bremen:<br>
DFKI GmbH<br>
Robotics Innovation Center<br>
Robert-Hooke-Straße 1<br>
28359 Bremen, Germany<br>
<br>
Tel.: <a moz-do-not-send="true"
href="tel:%2B49%20421%20178%2045-6620"
value="+49421178456620">+49 421 178 45-6620</a><br>
Zentrale: <a moz-do-not-send="true"
href="tel:%2B49%20421%20178%2045-0"
value="+49421178450">+49 421 178 45-0</a><br>
Fax: <a moz-do-not-send="true"
href="tel:%2B49%20421%20178%2045-4150"
value="+49421178454150">+49 421 178 45-4150</a> (Faxe
bitte namentlich kennzeichnen)<br>
E-Mail: <a moz-do-not-send="true"
href="mailto:Alexander.Duda@dfki.de">Alexander.Duda@dfki.de</a><br>
<br>
Weitere Informationen: <a moz-do-not-send="true"
href="http://www.dfki.de/robotik" target="_blank">http://www.dfki.de/robotik</a><br>
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<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>
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