🌐 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
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Signed-off-by: Louise Poubel <louise@openrobotics.org>
This was referenced Sep 3, 2021
caguero
approved these changes
Sep 8, 2021
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@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>
mjcarroll
reviewed
Sep 10, 2021
Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org>
mjcarroll
approved these changes
Sep 10, 2021
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🎉 New feature
Part of gazebosim/gz-sim#981
Summary
Leverage
ignition::math::SphericalCoordinatesto hold the<spherical_coordinates>element.Mismatches between the SDF spec and the
ign-mathclass: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::SphericalCoordinatesprovides 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-mathor 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
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge
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