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🌐 Parse spherical coordinates #685
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Signed-off-by: Louise Poubel <louise@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## main #685 +/- ##
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- Coverage 87.99% 87.94% -0.06%
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Files 73 73
Lines 11116 11166 +50
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+ Hits 9782 9820 +38
- Misses 1334 1346 +12
Continue to review full report at Codecov.
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Signed-off-by: Louise Poubel <louise@openrobotics.org>
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All looks goods to me besides the <world_frame_orientation>
. We're not doing anything with that parsed element but I think it's fine in case this changes in the future.
@scpeters , do you want to take a look at this before merging? I'm mainly concerned about the documentation changes. |
Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org>
🎉 New feature
Part of gazebosim/gz-sim#981
Summary
Leverage
ignition::math::SphericalCoordinates
to hold the<spherical_coordinates>
element.Mismatches between the SDF spec and the
ign-math
class:world_frame_orientation
: that tag was never used by Gazebo (and maybe no other simulators either?). See discussion in Support spherical coordinates gz-sim#981 (comment). I updated the docs to mention only ENU is supported for now. The idea is that we update the docs as support for other conventions is added tomath::SphericalCoordinates
.heading_deg
: the docs say that the heading should be counter-clockwise, but according to the tests I added in 🌐 Spherical coordinates: bug fix, docs and sanity checks gz-math#235, I believe that's never been the case? It's also possible that I misunderstood something.I should point out that
ignition::math::SphericalCoordinates
provides conversion and lookup functions that may not be as accurate or flexible as those provided by libraries such asproj
. As far as SDFormat is concerned, that class is being used mainly as storage for the data, and downstream applications may choose to use the functions built intoign-math
or use 3rd party applications to perform computation.Test it
I'm working on an Ignition Gazebo PR that uses this, stay tuned! For now, look at the added tests 🙂Used here: gazebosim/gz-sim#1008
Checklist
codecheck
passed (See contributing)Note to maintainers: Remember to use Squash-Merge
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