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Frame of Reference Conversion Functions

In the simulator three main frame of references are used: the leg (different for each leg), the robot and the world frame of reference. This functions return homogeneous transforms that allow to convert points expressed in one of those frame of references to another one. No functions are provided to convert from or to the reference frame of reference since it plays a secondary role and is defined mainly for internal purposes. See section 3.2.15 for details about functions to manipulate transformations and points.



transform * leg_to_body (unsigned int leg,t_robot *r)
 

Returns the transformation to transform from the leg frame of reference (of the indicated leg) to body the body frame of reference.



transform * body_to_leg (unsigned int leg,t_robot *r)
 

Returns the transformation to transform from the body frame of reference to a given leg frame of reference.



transform * robot_to_world (t_robot *r)
 

Returns the transformation to transform from the robot frame of reference to the world frame of reference. This transformation can be used, for instance, to get the current position of the robot in the world[*].   However, this odometric measure shouldn't be used in the robot controllers if we aim them to be applicable to a real robot since in a real robot the odometry would be much more imprecise of that provided by the simulator.



transform * world_to_robot (t_robot *r)
 

Returns the transformation to transform from the world frame of reference to the robot frame of reference.


next up previous contents index
Next: Trace Functions Up: The Robot Previous: Landmarks Functions
Josep M. Porta Pleite
8/2/2000