what calculation method did tf use to compute transform between joint poses ?
Where can I see how ROS tf calculate coordinate pose transformation between joints. As far as I know, the urdf file use euler rpy angle as input and RViz tf use quaternion representation. Where can I see the calculation behind it ? I found transformation.py on one of the tf folder, which one is the tf pose conversion?
Thanks
It's not clear which calculation are you asking about. Are you asking about conversion between euler angles and quaternion? Or are you asking about Forward Kinematics for a robot arm?
Sorry for the late reply, I'm asking for the forward kinematics, I learned about it these few days and I find out that tf only use simple Transformation matrix multiplication to do the transform. Thanks for the reply though !