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I agree with you. We aren't transforming from turtle2 to turtle1. In fact we are transforming the co-ordinates in turtle1 frame to turtle2 frame. More precisely when we "look up transform" we are transforming the pose defined by [position = origin of turtle1 frame, orientation = x axis of turtle1 frame] to the turtle2 frame.
Also, other functions such as transformPoint and transformPose transform a point/pose from the second parameter frame to the first parameter frame.
| | 2 | No.2 Revision |
I agree with you. We aren't transforming from turtle2 to turtle1. In fact we are transforming the co-ordinates in turtle1 frame to turtle2 frame. More precisely when we "look up transform" we are transforming the pose defined by [position = origin of turtle1 frame, orientation = x axis of turtle1 frame] to the turtle2 frame.
Also, other functions such as transformPoint and transformPose transform a point/pose from the second parameter frame to the first parameter frame.
EDIT: This is a wrong answer. Please see comments to tfoote's answer.
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