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 | 1 | initial version |
You'll need two transforms instead of one, one with the rotation and then a child one with the translation, and sendTransform them both.
| | 2 | No.2 Revision |
You'll need two transforms instead of one, one the first with the rotation and then a child one with the translation, and sendTransform them both.
| | 3 | No.3 Revision |
You'll need two transforms instead of one, the first with the rotation and then a child one with the translation, and sendTransform them both.
Instead of parent -> child frame you'll have parent -> intermediate rotated child -> child frame, but any tf lookup can ignore the intermediate frame by looking up from parent to child and they'll see the combined proper rotation-then-translation transform.
| | 4 | No.4 Revision |
You'll need two transforms instead of one, the first with the rotation and then a child one with the translation, and sendTransform them both.
Instead of parent -> child frame you'll have parent -> intermediate rotated child -> child frame, but any tf lookup can ignore the intermediate frame by looking up from parent to child and they'll see the combined proper rotation-then-translation transform.
Or you could do some matrix math to transform the translation in the rotated frame into the parent frame.
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