what calculation method did tf use to compute transform between joint poses ?
Where can I see how ROS tf calculate coordinate pose transformation between joints. As far as I know, the urdf file use euler rpy angle as input and RViz tf use quaternion representation. Where can I see the calculation behind it ? I found transformation.py on one of the tf folder, which one is the tf pose conversion?
Thanks
Asked by TapleFlib on 2023-05-27 23:28:26 UTC
Comments
It's not clear which calculation are you asking about. Are you asking about conversion between euler angles and quaternion? Or are you asking about Forward Kinematics for a robot arm?
Asked by Mike Scheutzow on 2023-05-28 08:08:09 UTC
Sorry for the late reply, I'm asking for the forward kinematics, I learned about it these few days and I find out that tf only use simple Transformation matrix multiplication to do the transform. Thanks for the reply though !
Asked by TapleFlib on 2023-06-15 09:47:44 UTC