1. Enter the position and angles of your reference frames with respect to world under the frames column.

2. Enter the value you wish to convert and select your chosen "from" and "to" frames.

3. Click on the Calculate button to see the result.

For example, if you have a GPS sensor in frame 1 (GPS frame) which has returned a position estimate and you want to know the position of your robot in frame 2 (Baselink frame):

Select position, enter the position estimate given by the GPS, under "from" select frame 1, under "to" select frame 2. Click calculate.