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jhu-dvrk / dvrk-ros

daVinci Research Kit ROS stack. See dVRK wiki to get started: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
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Possible Issue in Syntax while defining rotation matricies #15

Closed adnanmunawar closed 6 years ago

adnanmunawar commented 8 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.

adeguet1 commented 6 years ago

I believe this code has been deprecated.