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In cl-tf cache don't go all the way to the root frame to get the transform of two neightboring frames #49

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gaya- opened this issue Aug 23, 2016 · 3 comments

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gaya- commented Aug 23, 2016

Refers to the following line: https://github.com/ros/roslisp_common/blob/master/cl_tf/src/transformer.lisp#L119

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gaya- commented Aug 23, 2016

Suggestion for a label: enhancement.

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gaya- commented Aug 23, 2016

Note: in C++ implementation it does go all the way up to the root as well:
https://github.com/ros/geometry2/blob/indigo-devel/tf2/src/buffer_core.cpp#L596

One could look into the old JLO code of Uli and see if he had a more optimal solution...

airballking added the enhancement label

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airballking commented Aug 24, 2016

If I remember correclty, the KDL::Tree class also goes all the way up to the root to find a KDL::Chain between two links.

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