Revision 3aa7a8f3
server/include/ROS/LookatCallbackWrapperROS.h | ||
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52 | 52 |
{ |
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// eyes frame has z-axis pointing along view dir (90° rotation w.r.t. base) |
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// and z-position is shifted to height of eyes |
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eig_eyes_to_base = (Eigen::Translation3d(0.078, 0, 0.188)
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eig_eyes_to_base = (Eigen::Translation3d(0.0, 0.0, 0.188)
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* Eigen::AngleAxisd(angles::from_degrees(90), Eigen::Vector3d::UnitY()) |
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* Eigen::AngleAxisd(angles::from_degrees(180), Eigen::Vector3d::UnitZ())).inverse(); |
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//eig_eyes_to_base = Eigen::Translation3d(0.070621, 0, 0.2006).inverse(); |
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