From dfe469b771a37ac2e242582c367a3acbf4b8c5de Mon Sep 17 00:00:00 2001 From: Alexander Fabisch Date: Mon, 30 Sep 2024 13:30:39 +0200 Subject: [PATCH] Add references --- doc/source/user_guide/introduction.rst | 21 ++++++++++++++++++--- 1 file changed, 18 insertions(+), 3 deletions(-) diff --git a/doc/source/user_guide/introduction.rst b/doc/source/user_guide/introduction.rst index 0d8536ba..952e5f9a 100644 --- a/doc/source/user_guide/introduction.rst +++ b/doc/source/user_guide/introduction.rst @@ -6,6 +6,9 @@ Introduction to 3D Rigid Transformations Basics ------ +Following Waldron and Schmiedeler [1]_, we define the basic terms that we use +throughout this user guide. + .. list-table:: :widths: 15 35 15 35 @@ -53,6 +56,10 @@ its frame) is always expressed with respect to another frame. Frame Notation -------------- +Notation is important for describing and understanding of physical quantities +in 3D. Furgale [2]_ [3]_ presents one of the most consistent and clear +approaches and we use it here. + For physical quantities we use the notation :math:`_{A}\boldsymbol{x}_{BC}`, where :math:`\boldsymbol{x}` is a physical quantity of frame C with respect to frame B expressed in frame A. For example, @@ -149,8 +156,16 @@ representations on the following pages. References ---------- -1. Waldron, K., Schmiedeler, J. (2008). Kinematics. In: Siciliano, B., Khatib, +.. [1] Waldron, K., Schmiedeler, J. (2008). Kinematics. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_2 -2. Representing Robot Pose: The good, the bad, and the ugly (slides): http://static.squarespace.com/static/523c5c56e4b0abc2df5e163e/t/53957839e4b05045ad65021d/1402304569659/Workshop+-+Rotations_v102.key.pdf -3. Representing Robot Pose: The good, the bad, and the ugly (blog): http://paulfurgale.info/news/2014/6/9/representing-robot-pose-the-good-the-bad-and-the-ugly + +.. [2] Furgale, P. (2014). Representing Robot Pose: The good, the bad, and the + ugly (slides). In What Sucks in Robotics and How to Fix It: Lessons Learned + from Building Complex Systems (ICRA workshop). Note: these slides seem to be + lost, but the blog below conveys the same message. + http://static.squarespace.com/static/523c5c56e4b0abc2df5e163e/t/53957839e4b05045ad65021d/1402304569659/Workshop+-+Rotations_v102.key.pdf + +.. [3] Furgale, P. (2014). Representing Robot Pose: The good, the bad, and the + ugly (blog). + https://web.archive.org/web/20220420162355/http://paulfurgale.info/news/2014/6/9/representing-robot-pose-the-good-the-bad-and-the-ugly