Relative pose between two tf::Transforms

Question

Hello,

how can I get the relative pose between two tf::Transforms? I know that tf::TransformListener can do this if you call lookupTransform with identical target- and source-frame, but with different target- and source-times, but how can I achieve this without any messages if I only have two tf::Transforms (each representing a different point in time) of an odometry-source for example?

Thanks in advance!

---

Originally posted by ph4nt0m on ROS Answers with karma: 71 on 2012-01-16

Post score: 2

Answer 1

Basically invert one and multiply the other.

tf1.inverseTimes(tf2) should do that.

---

Originally posted by dornhege with karma: 31395 on 2012-01-16

This answer was ACCEPTED on the original site

Post score: 5

---

Original comments

Comment by hc on 2017-08-18:
Is it tf1 wrt tf2 or tf2 wrt tf1?