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In what situations or problems would I use KDL data type in tf?

asked 2014-02-11 09:17:08 -0500

billtecteacher gravatar image

Is KDL used by tf to do transforms or is it a supplement to explicitly do transforms by the programmer instead of letting tf do it? Please forgive my ignorance I've been trying to get a better understanding of tf but am confused by KDL.

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answered 2014-02-11 11:32:21 -0500

fergs gravatar image

TF and KDL can achieve somewhat similar, but somewhat different uses. TF does not use KDL internally.

TF is frequently used when you just want to transform data from one coordinate frame to another.

KDL can also be used to find where a particular frame is based on a kinematic chain and joint positions, but doesn't offer the convenient functions for transforming sensor data. KDL does however offer kinematics functions such as Inverse Kinematics, Forward Kinematics, Jacobian calculations, etc.

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Thank you so much for your help :)

billtecteacher gravatar image billtecteacher  ( 2014-02-11 14:13:48 -0500 )edit

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Asked: 2014-02-11 09:17:08 -0500

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Last updated: Feb 11 '14