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F_tip is not defined in the f_joint coordinate system, its defined in an by inverse p_origin translated F_joint.
See segment constructor:
f_tip(_joint.pose(0).Inverse() * _f_tip)
Example:
Imagine a RotAxis joint:
with
p_origin [1,1,1]
F_Tip = Identity
If you look at the pictures, the resulting position should be as follows (ignoring rotation):
[1,1,1]
But it is not,
it is [0,0,0]
The text was updated successfully, but these errors were encountered:
I know this might be out of place, but has anyone noticed that the graphics for the KDL segments on the website are wrong?
https://orocos.org/wiki/Kinematic_Trees.html
F_tip is not defined in the f_joint coordinate system, its defined in an by inverse p_origin translated F_joint.
See segment constructor:
f_tip(_joint.pose(0).Inverse() * _f_tip)
Example:
Imagine a RotAxis joint:
with
p_origin [1,1,1]
F_Tip = Identity
If you look at the pictures, the resulting position should be as follows (ignoring rotation):
[1,1,1]
But it is not,
it is [0,0,0]
The text was updated successfully, but these errors were encountered: