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TF Tree Shared var

tf_tree

asked 2016-07-15 09:41:12 -0500

soulslicer
61 ●9 ●10 ●13

Hi all, does TF support such a structure

GLOBAL -> A  
GLOBAL -> B  
GLOBAL -> C 
M -> A  
M -> B

I don't want to setup my tree as M -> GLOBAL -> the rest because then I have to manually compute the transform between GLOBAL and M which is annoying

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answered 2016-07-15 13:33:48 -0500

Arwen
146 ●4 ●5

Well, no.

Check out the tf tutorials).

tf builds up a tree structure of frames; it does not allow a closed loop in the frame structure. This means that a frame only has one single parent, but it can have multiple children.

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Does that mean if I want to seutp the above strucutre. I need to manually calculate my own transform and publish it that way?

soulslicer ( 2016-07-15 23:42:36 -0500 )edit

I think if the transform between M and A, B and C is fixed, you have to setup your tf tree like this: Global -> M -> A I prefer the fixed global frame at the top. But if you can't setup this configuration, manually compute and broadcast the transform.

Arwen ( 2016-07-18 06:19:14 -0500 )edit

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Asked: 2016-07-15 09:41:12 -0500

Seen: 112 times

Last updated: Jul 15 '16

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