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Fiducial alignment can sometimes produce nan translation #366

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codebot opened this issue Jul 2, 2021 · 0 comments · Fixed by #367
Closed

Fiducial alignment can sometimes produce nan translation #366

codebot opened this issue Jul 2, 2021 · 0 comments · Fixed by #367
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codebot commented Jul 2, 2021

Sometimes the multi-level fiducial-alignment algorithm will create nan offsets for translation. Possibly happens when there aren't any pairs of fiducials with in the same level (only single fiducials)
Reported in open-rmf/rmf#69
@codebot codebot added the bug Something isn't working label Jul 2, 2021
@codebot codebot self-assigned this Jul 2, 2021
codebot added a commit that referenced this issue Jul 2, 2021
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hotfix for #366, avoid exploding transform for 1 fudicual
a99e83d 
Signed-off-by: Morgan Quigley <morgan@osrfoundation.org>
@codebot codebot mentioned this issue Jul 2, 2021
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codebot added a commit that referenced this issue Jul 2, 2021
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hotfix for #366, avoid exploding transform for 1 fudicual (#367)
3d3f576 
Check if there are >1 inter-fiducial distances provided before dividing by that count 🤦 

Signed-off-by: Morgan Quigley <morgan@osrfoundation.org>
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hotfix for #366, avoid exploding transform for 1 fudicual open-rmf/rmf_traffic_editor
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