[BodyROS2] Correct RangeVisionSensor frames #21
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ssr-yuki
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I just rebase the PR branch onto the latest master :) |
ssr-yuki
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Dr. Nakaoka approved this in another tool. |
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This PR corrects RangeVisionSenor frames in BodyROS2 by replacing
Rointo its transpose.I did not notice this bug in 12339fa because I used cv-frame for a test, which is diagonal and invariant for the transpose operation. For this PR I tested all types of frames defined in here.
In addition, I refactor the related codes and add some comments for the transformation.