Calculating the quaternion increments in geometry_msgs/Transform

asked 2016-02-04 16:07:53 -0600

Hossein gravatar image

updated 2016-02-04 19:57:17 -0600

I control the end effector of a robot with the following message:

geometry_msgs/Transform tf_incr

which contains:

geometry_msgs/Vector3 translation
geometry_msgs/Quaternion rotation

I need to sent the increments for transition and rotation. Calculation of transition increment is straight forward, but I have difficulties to calculate the increments of rotation. Need to mention that I have the current orientation of the robot as a matrix (let's say T0). if I want change the orientation slightly to T1, how can I calculate the increment in either quaternion or matrix representation?

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Comments

Your system does not make sense. What does your message represent? Why does it have two items in an array?

ahendrix gravatar image ahendrix  ( 2016-02-04 17:42:21 -0600 )edit

There are two arms. I edited the question to avoid confusion. The position and orientation of the robot are controled by this message. The inputs are increments of transition and rotation.

Hossein gravatar image Hossein  ( 2016-02-04 19:59:29 -0600 )edit

What is tf_incr relative to?

ahendrix gravatar image ahendrix  ( 2016-02-04 23:33:18 -0600 )edit