Orientation enum name #342
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TSC21
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Jul 16, 2015
TSC21
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- Added names to orientation list;
- Added functions: one to retrieve the name when having the enum, other to retrieve the number when having the name.
distance_sensor: add usage to new sensor_orientation functions
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| /** | ||
| * @brief Retrieve sensor orientation number from alias name. | ||
| */ | ||
| static int orientation_from_str(std::string sensor_orientation); |
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Change std::string sensor_orientation to const std::string &sensor_orientation.
Also this function should be capable convert numeric value of enum (e.g. strtol() then check & return).
That needed for backward compatibility.
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Change
std::string sensor_orientationtoconst std::string &sensor_orientation.
Why? And why not also Eigen::Quaterniond sensor_orientation_matching?
Also this function should be capable convert numeric value of enum (e.g. strtol() then check & return).
Convert to what? MAV_SENSOR_ORIENTATION orientation is supposed to be a number, which is used as an index to return: orientation name in case of UAS::str_sensor_orientation(); and orientation values in case of UAS::sensor_orientation_matching(). And orientation_from_str() was created so we can return the orientation number/index if we give the orientation name. So I think we have all the functionalities we need.
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Why?
Because this reduces object copying. What you want change in UAS::sensor_orientation_matching()?
strtol()
Because there may be lots of configs with number representation. Why not just simply try to fall back to old behavior?
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Because this reduces object copying. What you want change in UAS::sensor_orientation_matching()?
This I undestand, but:
Because there may be lots of configs with number representation. Why not just simply try to fall back to old behavior?
... I can't. Can you code an example please?
| @@ -37,7 +37,7 @@ class DistanceSensorItem { | |||
| send_tf(false), | |||
| sensor_id(0), | |||
| field_of_view(0), | |||
| orientation(-1), | |||
| orientation("LOCAL_NED"), | |||
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This make it worse. Nope-nope-nope!
Leave orientation as integer.
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But if I leave it as integer, how can https://github.com/mavlink/mavros/pull/342/files#diff-57d2f68a3e0e5cfa2db14ac20d8845ddR117 be a string???
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Also, this is supposed to be https://github.com/mavlink/mavros/pull/342/files#diff-2adf7423447a0e5f4880b56161efdda9R51, so how can I init as an integer and use it as a string (which it is)?!
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Only one thing need to change in distance_sensor.cpp: You should pull |
Don't know what you mean... |
| uint8_t sensor_id; //!< id of the sensor | ||
| bool is_subscriber; //!< this item is a subscriber, else is a publisher | ||
| bool send_tf; //!< defines if a transform is sent or not | ||
| uint8_t sensor_id; //!< id of the sensor | ||
| double field_of_view; //!< FOV of the sensor | ||
| tf::Vector3 position; //!< sensor position |
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That's one field that need to change type: Eigen::Vector3d.
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OK. But please(!), instead, go to specific lines to change so to orientation handling work ok (that's the purpose of this PR).
* orientation_enum_name: distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr.
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Rebased and merged. |
* master: (87 commits) package: comment-out c++03 related flags package: Replace YouCompleteMe config with @galou gist scripts: fix mavwp test: add test cases for new sensor orientation functions remove tf1 dep lib #319: Remove TF types from UAS plugin: param: new message type: ParamValue msgs: Move MAV_CMD values to separate msg plugin: command: fix build fix whitespaces in python scripts Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo scripts: mavftp: little speed up by aligning access to payload length launch: Add optional log_output arg distance_sensor #342: correct orientation parameter handling. lib #342: try to convert numeric value too Update iris_empty_world_offboard_ctl.launch px4_config: adapt to distance_sensor params to new features distance_sensor: restructure orientation matching and verification lib #342: Added sensor orientation string repr. test: fix prerelease building ...
