local trajectory: evaluate returns twist; platform controller: uses feed forward term
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@groegerto fyi
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mentioned in commit 3e4a96aa
mentioned in issue #20 (closed)
710 const auto& global_T_wp_before = lower->pose; 711 712 // the waypoint after this timestamp 713 const auto& global_T_wp_after = lower[1].pose; 714 709 715 // fraction of time between segment end points 710 716 const float t = d1 / dT; 711 math::LinearInterpolatedPose ip(lower->pose.matrix(), lower[1].pose.matrix(), 0, 1, true); 717 math::LinearInterpolatedPose ip(global_T_wp_before.matrix(), global_T_wp_after.matrix(), 0, 1, true); 718 719 const core::Pose wp_before_T_wp_after = global_T_wp_before.inverse() * global_T_wp_after; 712 720 721 const Eigen::Matrix3f& global_R_wp_before = global_T_wp_before.linear(); 722 723 // the movement direction in the global frame 724 const Eigen::Vector3f global_V_linear_movement_direction = global_R_wp_before * wp_before_T_wp_after.translation().normalized(); -
I have a small question about the coordinate calculations. Wouldn't the movement direction in the global frame also just be the difference of the translation between the two poses in the global frame. So something like this:
global_V_linear_movement_direction = (global_T_wp_after.translation() - global_T_wp_before.translation()).normalized()Does that work as well or am I missing something?
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