I am trying to understand the [pose_follower](https://github.com/ros-planning/navigation_experimental/blob/hydro-devel/pose_follower/src/pose_follower.cpp) package.
It simply tries to follow the waypoints sent from the global planner (through move_base). In a function called diff2D, there is this line:
tf::Pose diff = pose2.inverse() * pose1;
where pose2 is the robot current pose and pose1 is the waypoint pose. It seems like this line returns the difference between the two poses. My questions are:
1) how this line (internally) works? or what is the mathematical concept behind this?
2) does this line also calculate the difference between the two quaternions of the poses?
3) Another question is what is the difference between tf::Pose and tf::Transform
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