0228 » History » Version 5
Quentin Labourey, 2018-03-06 13:58
| 1 | 1 | Quentin Labourey | h1. 02/28 : PoM Discussion |
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| 2 | 2 | Quentin Labourey | |
| 3 | *Participants:* |
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| 4 | Simon, Andrea, Ellon, Pierre, Quentin |
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| 5 | 3 | Quentin Labourey | |
| 6 | *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 |
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| 8 | h2. Sum-up |
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| 10 | First, we have to keep a transform tree up to date. The tree used here is represented below: |
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| 12 | !frames.png! |
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| 13 | 4 | Quentin Labourey | |
| 14 | 5 | Quentin Labourey | 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. |