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pvazteixeira/odometry.jl

Created September 13, 2018 18:05
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use of composition operator
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odometry.jl
using CoordinateTransformations
wTp1 = Translation(1.0, 0.0, 0.0);
wRp1 = LinearMap(RotXYZ(0.0, 0.0, 0.0))
wPp1 = compose(wTp1, wRp1)
To = Translation(1.0, 0.0, 0.0)
Ro = LinearMap(RotXYZ(0.0,0.0,pi/6.0))
odom = compose(To, Ro)
# expected odom ∘ wPp1 (odom after wPp1), but syntax is like oplus...
wPp2 = compose(wPp1, odom)
# visualize results
using MeshCat
vis = Visualizer()
open(vis)
setobject!(vis[:x1],Triad(0.5))
settransform!(vis[:x1],wPp1)
setobject!(vis[:x2],Triad(0.5))
settransform!(vis[:x2],wPp2)
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