Transform Info
TransformInfo captures the world and local transformation of a link, joint, or environmental object. This is commonly included within the State data structure, with one value for each link of the robot.
| Parameter | Type | Description |
|---|---|---|
world | isometry consisted of translation and rotation | The absulate transformation of the object in the environment with respect to the world frame |
local | isometry consisted of translation and rotation | The transformation of the object with respect to its parent |