what calculation method did tf use to compute transform between joint poses ?

asked 2023-05-27 23:28:26 -0500

TapleFlib gravatar image

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?


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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?

Mike Scheutzow gravatar image Mike Scheutzow  ( 2023-05-28 08:08:09 -0500 )edit

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 !

TapleFlib gravatar image TapleFlib  ( 2023-06-15 09:47:44 -0500 )edit