[Rock-dev] vizkit3d: fixing interpretation of transformer configuration

[Alexander Duda]

https://rock.opendfki.de/wiki/WikiStart/Standards/RG10
Feel free to edit it.

Alex


On 05/22/2014 08:51 PM, Sylvain Joyeux wrote:
> 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 ?
>
> Sylvain
>
>
> On Thu, May 22, 2014 at 7:53 PM, Alexander Duda 
> <Alexander.Duda at dfki.de <mailto:Alexander.Duda at dfki.de>> wrote:
>
>     Before, the change was made vizikt3d was showing the
>     transformations in
>     reversed order and was not aligned with the transformer configuration.
>     This should be fixed by now.
>
>     The only thing you have to do is to correctly configure the
>     transformer.
>     Nothing has changed here.
>
>     All tranformations are given as source_in_target which is
>     unfortunately
>     called source_to_target in our code being ambiguous because no one
>     knows
>     if the transformation is transforming samples or coordinate
>     systems (in
>     our case samples).
>
>     Alex
>
>
>     On 05/22/2014 07:24 PM, Javier Hidalgo Carrió wrote:
>     > Hi Alex,
>     >
>     > The visualization stays the same. But the interpretation of the
>     > transformer configuration changes for vizkit3d only.
>     >>
>     >> Former:
>     >> static_transform(Eigen::Vector3.new(0.0,0.0,3.0),
>     >>
>     Eigen::Quaternion.from_euler(Eigen::Vector3.new(Math::PI,0,0),2,1,0),"world"
>     >>
>     >> => "body")
>     >>
>     >> must no be written as:
>     >> static_transform(Eigen::Vector3.new(0.0,0.0,3.0),
>     >>
>     Eigen::Quaternion.from_euler(Eigen::Vector3.new(Math::PI,0,0),2,1,0),"body"
>     >>
>     >> => "world")
>     > It works for me when using static transformations. But, regarding
>     > dynamic transformations:
>     > Does it also apply to the dynamic transformations given by a rbs
>     on an
>     > output port?
>     >
>     > Former:
>     > dynamic_transform "vicon.pose_samples", "world" => "body"
>     > with rbs.sourceFrame = "world"
>     > with rbs.targetFrame = "body"
>     >
>     > must now be written as:
>     > dynamic_transform "vicon.pose_samples", "body" => "world"
>     > with rbs.sourceFrame = "body"
>     > with rbs.targetFrame = "world"
>     >
>     > However, in the transformer_broadcaster the frames for dynamic
>     > transformation are called from_frame and to _frame.
>     > I am not making it work with the new interpretation. Did anyone
>     > already try it?
>     >
>     > Thanks,
>     >
>     > Javier.
>     >
>     >>
>     >> to have the same visualization in vizkit3d (this is aligned
>     with the
>     >> transformer)
>     >>
>     >> Greets Alex
>     >
>     >
>
>
>     --
>     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 <tel:%2B49%20421%20178%2045-6620>
>       Zentrale: +49 421 178 45-0 <tel:%2B49%20421%20178%2045-0>
>       Fax: +49 421 178 45-4150 <tel:%2B49%20421%20178%2045-4150> (Faxe
>     bitte namentlich kennzeichnen)
>       E-Mail: Alexander.Duda at dfki.de <mailto:Alexander.Duda at dfki.de>
>
>       Weitere Informationen: http://www.dfki.de/robotik
>     -----------------------------------------------------------------------
>       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
>
>     _______________________________________________
>     Rock-dev mailing list
>     Rock-dev at dfki.de <mailto:Rock-dev at dfki.de>
>     http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
>
>


-- 
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:   Alexander.Duda at dfki.de

  Weitere Informationen: http://www.dfki.de/robotik
  -----------------------------------------------------------------------
  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

-------------- next part --------------
An HTML attachment was scrubbed...
URL: http://www.dfki.de/pipermail/rock-dev/attachments/20140523/3640cc7d/attachment.htm