0228 » History » Revision 5
Revision 4 (Quentin Labourey, 2018-03-06 13:56) → Revision 5/15 (Quentin Labourey, 2018-03-06 13:58)
h1. 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
h2. Sum-up
First, we have to keep a transform tree up to date. The tree used here is represented below:
!frames.png!
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.