tf/2008-09-09 Design Review

Package Developer: Tully

Reviewers:

• Brian
• Stu
• Eric
• Ioan
• Josh
• Ken

Package Summary

Transforms between coordinate frames

Minutes

Pose3D

• Do we really want to roll our own math?
• Pass by pointers for outputs
• Move basic math out of ROS?
• remove to/from matrix from classes?
• pose3d drop down to struct/C?
• polymorphic add instead of listing all
• internal data arrays union
• all copy constructors
• make internal stuff high powered since people won't see them mostly
• no more 2d standardize on 3d
• Transform vs Pose aka

libTF

• move list/queue processing into external class
  • use necessary references

Conclusions

• Underlying data types issues
  • Quaternions vs orientation
  • vector vs points
  • look at nocturnal (from Josh)
• strip out large matrix support and use hard coded matrix multiplication?
  • ublas?
  • nocturnal?
  • kdl ?
• redefine scope of math3d
  • compare to external sources