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Add the possibility to have user defined frames #28

Merged
merged 14 commits into from
Sep 28, 2022
Merged

Add the possibility to have user defined frames #28

merged 14 commits into from
Sep 28, 2022

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S-Dafarra
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@S-Dafarra S-Dafarra commented Sep 26, 2022 •
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There are some remaining points still open:

  • have some proper tests for the euler angles
  • have the possibility to change the relative pose from RPC, but I think we can start from this.

I had to refactor the logic to publish all the transforms, so the changes are not so little

S-Dafarra and others added 13 commits September 22, 2022 15:08
@S-Dafarra
Unifying publication to transform server.
a89e44b 
Avoid publishing the ports for the head, left and right arm.

Avoid publishing the eye frames

Adding the hands poses manually.
@S-Dafarra
Renamed PosePublisher to FilteredPosePublisher.
5e912a8
@S-Dafarra
Refactored PosePublisher class
9f2c2c0
@S-Dafarra
Added possibility for the PosePublisher to expose the pose that will …
bef0aa1 
…be published.
@S-Dafarra
Added custom pose publisher.
4ad86ef
@S-Dafarra
The raw root frame is published as a custom frame.
6bead0d
Fixed parsing of custom frames.
e78991c
@S-Dafarra
Implemented custom euler angles methods.
5f35eb8
@S-Dafarra
Publishing custom poses wrt openxr_root frame.
dc7e526
@S-Dafarra
Fixed some unitialized variables.
04e57d4 
Used a better naming for the root frame in tf settings.
@S-Dafarra
Exposing the tfBaseFrame.
9b510b8
@S-Dafarra
Added possibility to have custom poses defined wrt other poses.
7e057fa
@S-Dafarra
The computation of the custom pose rotation is done relative to the p…
be8f14f 
…arent frame.
@S-Dafarra S-Dafarra self-assigned this Sep 26, 2022
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  • have the possibility to change the relative pose from RPC, but I think we can start from this.

Done in 4f3d15e

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Here the remaining issue: #29. Merging

@S-Dafarra S-Dafarra merged commit 14f1fe0 into main Sep 28, 2022
@S-Dafarra S-Dafarra deleted the additional_frames branch September 29, 2022 17:06
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@traversaro traversaro traversaro approved these changes

@RiccardoGrieco RiccardoGrieco Awaiting requested review from RiccardoGrieco

@lrapetti lrapetti Awaiting requested review from lrapetti

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@S-Dafarra @traversaro