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Retrieve interpolated transform from tf2_ros::Buffer

asked 2020-05-18 21:05:57 -0500

dogh gravatar image

Can anyone confirm that the following returns the interpolated transformation from the tf2_ros_buffer_ at the query_stamp?

auto t = tf2_ros_buffer_.lookupTransform(frame_a, frame_b, query_stamp);

And more specifically, is this a Cartesian interpolation?

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answered 2020-05-18 22:38:13 -0500

I recommend reading the official paper on the subject: http://wiki.ros.org/Papers/TePRA2013_...

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@stevemacenski: please don't post link-only answers. I know this link is likely to disappear together with ROS Answers if it disappears, but the paper is relatively long, and the answer to the question posted by OP can be short.

If possible, please quote the relevant parts from the paper.

(I do agree with you the information sought by the OP is provided by the paper)

gvdhoorn gravatar image gvdhoorn  ( 2020-05-19 02:03:05 -0500 )edit

The reason I did in this case is due to the user asking about a really particular method of interpolation. I didn't want to get drawn into a "what's better X or Y" or trying to dissect the differences. The paper lays out some important concept about why what Tully and Co. did was good - and I think its good context to understand that would then make the author potentially reconsider on their own if Cartesian interpolation is really what they wanted.

I think its a good learning opportunity.

stevemacenski gravatar image stevemacenski  ( 2020-05-19 12:37:27 -0500 )edit

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Asked: 2020-05-18 21:05:57 -0500

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Last updated: May 18 '20