From 6681aa366781fed79a70940a7056ed7b2e1afda9 Mon Sep 17 00:00:00 2001 From: AndyZe Date: Thu, 17 Aug 2023 12:09:17 -0500 Subject: [PATCH] Add another reference for twist transformation. Comment correction. (#620) * Add another reference for twist transformation. Comment correction. * Remove a dead link --- tf2_eigen/include/tf2_eigen/tf2_eigen.hpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp b/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp index 061c57aaa..e388de69d 100644 --- a/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp +++ b/tf2_eigen/include/tf2_eigen/tf2_eigen.hpp @@ -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 @@ -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);