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Add another reference for twist transformation. Comment correction. (#…
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* Add another reference for twist transformation. Comment correction.

* Remove a dead link
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AndyZe authored Aug 17, 2023
1 parent 2eaab25 commit 6681aa3
Showing 1 changed file with 3 additions and 2 deletions.
5 changes: 3 additions & 2 deletions tf2_eigen/include/tf2_eigen/tf2_eigen.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -131,7 +131,7 @@ void doTransform(
/** \brief Apply a geometry_msgs TransformStamped to a 6-long Eigen vector.
* Useful for transforming wrenches or twists.
* Wrench: (force-x, force-y, force-z, torque-x, torque-y, torque-z)
* Twist: (trans. vel. x, trans. vel. y, trans. vel. z, ang. vel. x, ang. vel. y, ang. vel. z)
* Twist: (ang. vel. x, ang. vel. y, ang. vel. z, trans. vel. x, trans. vel. y, trans. vel. z)
* This function is a specialization of the doTransform template defined in tf2/convert.h,
* although it can not be used in tf2_ros::BufferInterface::transform because this
* functions rely on the existence of a time stamp and a frame id in the type which should
Expand All @@ -148,7 +148,8 @@ void doTransform(
const geometry_msgs::msg::TransformStamped & transform)
{
// References:
// https://core.ac.uk/download/pdf/154240607.pdf, https://www.seas.upenn.edu/~meam520/notes02/Forces8.pdf
// https://core.ac.uk/download/pdf/154240607.pdf
// http://hades.mech.northwestern.edu/images/7/7f/MR.pdf Eq'n 3.83

Eigen::Isometry3d affine_transform = tf2::transformToEigen(transform);

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