Orientation enum refactoring #341
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| transform.header = range->header; | ||
| transform.child_frame_id = "fcu"; | ||
| transform.header.frame_id = "fcu"; | ||
| transform.header.stamp = uas->synchronise_stamp(dist_sen.time_boot_ms); |
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Yes... forgot UAS::synchronized_header() has two args.
| auto rpy = UAS::sensor_orientation_matching(static_cast<MAV_SENSOR_ORIENTATION>(dist_sen.orientation)); | ||
| // how it can work, if rpy in degrees, not radians? | ||
| auto q = tf::createQuaternionFromRPY(rpy.x(), rpy.y(), rpy.z()); |
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And angles still in degrees, while function i think expects radians.
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Ugly. Unneeded calculations at every call.
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Well it will do the same thing if it converts to quaternions...
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And it just does this once for each msg received.
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For example Eigen::Vector3d v = Eigen::Vector3d(x, y, z) * DEG_TO_RAD; also does calculations on each call (and are exactly the same as the from_degrees() function). So I don't really see your point. You are forcing a problem where it doesn't exist.
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make_orientation() needed to fill const array, so no extra calculations.
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And quaternion are used in ros for all orientation/rotation things. I don't see any place where you need euler angles now. But i see where quaternion is usable.
Also to do rotation you steel need make quaternion and then apply it to Affine3d or other Q.
So no reason why store this data uncalculated and do calc at each call. That data is a constant, so just do precalculation.
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| return sensor_orientation[idx]; | ||
| return Eigen::Vector3d(angles::from_degrees(sensor_orientation[idx].x()), |
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A thing I can do here is:
return
Eigen::Vector3d(sensor_orientation[idx].x(), sensor_orientation[idx].y(), sensor_orientation[idx].z()) * DEG_TO_RAD;It's not so extensive and then I don't need angles.h in this case.
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Or since you want quaternions so bad, I can also do:
return UAS::quaternion_from_rpy(Eigen::Vector3d(sensor_orientation[idx].x(),
sensor_orientation[idx].y(),
sensor_orientation[idx].z()) * DEG_TO_RAD);Better?
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| size_t idx = size_t(orientation); | ||
| if (idx >= sensor_orientation.size()) { | ||
| ROS_WARN_NAMED("uas", "SENSOR: wrong orintation index: %zu", idx); | ||
| return tf::Vector3(); | ||
| return Eigen::Quaterniond(); |
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I think it should return identity (1 0 0 0).
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Please, stop working a sec. I'll merge to master. |
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Most of this work rebased and applied to master. Thanks. |
Well... ok |
This is a fix to was was pointed in #319 and ea8449c.