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I have some pose and twist in body frame and want to express/transfor it to another frame.
//body pose kindr::HomTransformMatrixF body_p; // body twist kindr::TwistLinearVelocityGlobalAngularVelocityF body_v; // init pose and twist here. ... //transformation to camera position kindr::HomTransformMatrixF body2cam; kindr::HomTransformMatrixF poseInCameraFrame = body_p * body2cam; // this works kindr::TwistLinearVelocityGlobalAngularVelocityF twistInCameraFrame = body_v * body2cam; // this does NOT work.
How do I write the transformation from a twist from one to another frame???
The text was updated successfully, but these errors were encountered:
Quick question: Who do kindr transforms a twist.
I have some pose and twist in body frame and want to express/transfor it to another frame.
//body pose
kindr::HomTransformMatrixF body_p;
// body twist
kindr::TwistLinearVelocityGlobalAngularVelocityF body_v;
// init pose and twist here.
...
//transformation to camera position
kindr::HomTransformMatrixF body2cam;
kindr::HomTransformMatrixF poseInCameraFrame = body_p * body2cam; // this works
kindr::TwistLinearVelocityGlobalAngularVelocityF twistInCameraFrame = body_v * body2cam; // this does NOT work.
How do I write the transformation from a twist from one to another frame???
The text was updated successfully, but these errors were encountered: