add torque due to force offset #538
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destogl
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Jul 12, 2022
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CI is happy because of style here: Once that is fixed, we can consider this for inclusion. |
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Thanks for pointing that out. I made the change and it looks like CI is happy now. |
clalancette
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Nov 4, 2022
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CI:
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v4hn
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adapted patch by @pac48 . Taken from ros2/geometry2#538 .
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I saw this change wasn't yet backported to the humble branch. Is that something that's in the pipeline? |
I can go ahead and do that. |
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@Mergifyio backport humble |
✅ Backports have been created
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mergify bot
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* add torque due to force offset (cherry picked from commit 49d4be4)
ahcorde
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tfoote
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adapted patch by @pac48 . Taken from ros2/geometry2#538 .
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Currently, the
doTransformfunction intf2_geometry_msgs.hpptransforms wrenches by applying pure rotation to the force and torque parts separately. However, this does not correspond to transforming a force vector because the transnational component is ignored. So perhaps the function can be renameddoRotationor something to that effect. See https://core.ac.uk/download/pdf/154240607.pdf for a reference on transforming force vectors. I made the needed change sodoTransformnow applies a transformation to the given wrench according the method described in the reference I linked.