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Mixing coordinate frames and transformations

Assume the space $\mathbb{R}^3$ is equipped with two frames $F_0$ with $O_0$ as origin and $F_1$ with $O_1$ as origin. The orthonormal basis of the first frame is $(\mathbf{e_1^0}, \mathbf{e_2^0}, \...
dylan's user avatar
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Obtaining rotation and translation matrix from homogeneous transformation matrix

The differences you see are very small (on the order of 1e-7), typical of floating-point arithmetic. Those differences are negligible for most practical purposes but are noticeable when examining the ...
Robotawi's user avatar
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Obtaining rotation and translation matrix from homogeneous transformation matrix

They look pretty correct to me? We are talking about a difference of say 0.0000001 between yours and the other one. Try to round up the result. Should give the same.
Nikolai's user avatar
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How to give Moveit! local orientation goal to my end effector, but global position?

Turns out there's no direct solution to this. Overall I have to transform (using the tf library) my desired orientation from a local frame, into a world frame. ...
Ezeuz's user avatar
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Multi robot SLAM problem

I think you should check ekf_filter node config. This node provides Odom to base link tf frame.
ken's user avatar
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1 vote
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Why does URDF use Euler angle to represent rotation?

Euler angles are easier and more intuitive as a human input and the singularity/gimbal lock issues aren't really a concern for static rigid transforms. It would be an issue for a moving joint with a 3-...
danzimmerman's user avatar
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Why does URDF use Euler angle to represent rotation?

Using Euler angles in URDF to represent rotation between two links primarily serves readability and simplicity in defining link connections in the robot's structure. Euler angles, despite their known ...
Robotawi's user avatar
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Force transformation problem

The term $P_{SORG}^{T}$ in the transformation represents the skew-symmetric matrix, derived from the position vector. Here's how you put a vector $P = [p_x, p_y, p_z]$ in its skew-symmetric matrix ...
Robotawi's user avatar
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