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ANYbotics
Kinematics and Dynamics for Robotics
Hi, Thank you for sharing the work. In rovio which you use this work to present pose of robot. In the code , I found something confusing me ` //...
When calling inverseRotate on EulerAngles, the procedure is as follows: 1. convert EulerAngles to RotationQuaternion 2. call inverted on RotationQuaternion 3. call rotate on RotationQuaternion The question is whether rotating...
Hi, As far as I can see, kindr implements only a boxPlus operation for global perturbations, i.e. Phi_2 = exp(v)*Phi_1 Do I overlook something or would it (maybe) make sense...
I guess we can easy agree on: ``` RotMatrix(C).apply(v) := C * v ``` , with \* is the matrix product. But what is with (it is basically the question...
The current new idea for the structure as a kind of compromise would be using policy classes defining the specific implementations foe e.g. a rotation. That would look a bit...
From Paul's email: > Hi all, > I think we shouldn't allow implicit casting in Kindr. The current implementation does things wrong (in my opinion) because: > > C \*...
The problem is that `.vector()` method returning Eigen vector works in a different way for Kindr Quaternion and Position objects. For Position, it returns a reference to the original data...
It looks like there is a very clever setup for how to write unit tests once and have the same tests run over all possible implementations. This is great! However,...
The documentation says > Base class that defines the interface of a pose of a rigid body. > > This class defines the interface of a pose of a rigid...
I've noticed that, for every eigen type, one has to reimplement `class get_matrix3d`. This seems error prone and tedious. For example, if we want to support transformation of `4x1` types...