daVinci Research Kit ROS stack. See dVRK wiki to get started: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
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Possible Issue in Syntax while defining rotation matricies #15
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adnanmunawar closed 6 years ago
In the file psm_logic.cpp line 154: frame6to7 means frame 7 defined in frame 6, right?
Using the same convention: In the file mtsTeleop.cpp line 60 and 65:
Does mtm2psm mean PSMs frame 0 defined in MTMs frame 0?
And does psm6tomtm7 mean MTMs frame 7 defined in PSMs frame 6?
Assuming so, the formulas in line 83 and 95 do not make sense.