02/28 : PoM Discussion¶

Participants:
Simon, Andrea, Ellon, Pierre, Quentin

Goal of the meeting: Discuss the new PoM architecture, taking into account the different frames to handle and the way we're going to handle changes in positions in the past

Sum-up¶

First, we have to keep a transform tree up to date. The tree used here is represented below:

The frames are the nodes of the graph, and the DFPCs that change them are visible in red. Some DFPCs give a transformation between the same frame at two successive times (WO for wheel Odometry, and VO for visual Odometry) while some DFPCs give the transform between two frames at a given time.