03-visualisation-transformation.md

3. Visualisation and Transformation

Page underconstruction

Visualisation

Transormation

Reference Frame

Frame is la labelled orgthonoal basis with a 6D orgiri

Each part of the rot usually has its own frame

TF

TF is the library used to maitain a transformation tree and calutaing the tansofmation between

Create frames

write a TF broadcaster

Summary