Complete overhaul of transform manual page #12034
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| - The `sun` entity exists at the origin of its own coordinate system | ||
| - The `sun/planet` transform places the planet 6 units along x away from the sun | ||
| - The `sun/planet/moon` transform places the moon 3 units along x away from the planet | ||
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link more detailed snippets!
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Overall I think this looks good. I'd consider all my notes to basically be nits. The organization of headers to make the flow clearer is probably the biggest thing.
Leaving as a comment since this is still a draft and I assume you want a final pass after check boxes are completed.
| The simplest way to use transforms is through entity path hierarchies, where each transform describes the relationship between an entity and its parent path. | ||
| Note that by default, all entities are connected via identity transforms (to opt out of that, you have to use named transform frames, more on that later). | ||
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| snippet: concepts/transform3d_hierarchy_simple |
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Ooof, this initially rendered as the moon inside my planet. I reset my view and it was fixed. However, it appears to default to wireframe instead of solid?
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oh that's a problem. good catch
| Note that unlike in ROS, you can log your transform relationship on _any_ entity. | ||
| However, currently once an entity specified the relation between two frames, this relation may no longer be logged on any other entity. | ||
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| Named transform frames have several advantages over entity path based hierarchies: |
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The nicest part for me running the snippets was that I could hide the sun when using names but maybe that is captured with the decoupling entities from transforms already.
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hmmm interesting. I'd lean towards it already being covered since with enough clicks you can also have it. But good point 🤔
| Example: | ||
| TODO: xlanguage please. | ||
| ```python | ||
| rr.log("robot", rr.Transform3D(translation=[1, 0, 0])) |
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These little code snippets didn't display anything interesting but made the idea concrete. Maybe the TODO will resolve that.
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| <!-- Figma file for diagrams in this article: https://www.figma.com/board/PTwJKgi9kQOqG7ZgzdhrDL/Transforms-doc-page-graphs?t=fWkOGxxn6mZkkCON-1 --> | ||
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Note on overall layout. Right now it feels a little weird so maybe just rearranging the header hierarchy will help?
Maybe something like (no opinion on exact names):
- Transforms
- Entity path transforms
- Named transforms
- Transforms - under the hood
- Special Transform Archetypes
- Pinhole
- View coordinates
- Pose transforms
… of view coordinates
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What
Even without the new addition of named transform frames, the "Transforms & Spaces" page was very outdated.
This rewrites it completely and explains now how all the different kind of transforms work and relate to each other
We'll likely refine this page further in the coming days. So doesn't have to be perfect yet, just better than before.
Draft todo: