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Homework7

Deadline: 4/20

Questions:

  1. Please draw the following plot using Eigen::Quaterniond(w x y z) and tf::Quaternion(x y z w) in rviz.
  2. Be aware of the directions of arrows. Pointing from A to B implies the transformation from A to B.
  3. In the first figure, vector AB is rotated by 90 degree about the z axis and vector BC is rotated by 60 degree about the z axis, and generate the output vector AC.
  4. In the second figure, vectors BA and CA are the inputs to generate output vector BC.

Instruction

	roscore
	rosrun HW7  tf_cf1 or tf_cf2 .... tf_cf4
	rosrun rviz

Reminders:

  • Please check the code in the src for reference.
  • Eigen::Quaterniond(w x y z) and tf::Quaternion(x y z w)
  • Install c++ 11(https://reurl.cc/E7ZN0g)
  • Install Eigne3 sudo apt-get install libeigen3-dev

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