adding support for loading trajectories and loading quaternions #4
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davetcoleman
requested changes
Mar 2, 2018
config/example.yaml
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| param6: [1, 1, 1, 1, 0, 0, 0] # Eigen::Affine3d - x, y, z, qw, qz, qy, qz | ||
| param7: [1, 1, 1, 1, 0, 0, 0, 2, 2, 2, 1, 0, 0, 0] # EigenSTL::vector_Affine3d - [x, y, z, qw, qz, qy, qz, x, y, z, qw, qz, qy, qz] | ||
| param8: [1, 1, 1, 3.14, 0, 0, 3, 3, 3, 3.14, 0, 0] # Eigen::Affine3d - x, y, z, roll, pitch, yaw |
config/example.yaml
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| param5: [1.1, 2.2, 3.3, 4.4] # std::vector<double> | ||
| param6: [1, 1, 1, 1, 0, 0, 0] # Eigen::Affine3d - x, y, z, qw, qz, qy, qz | ||
| param7: [1, 1, 1, 1, 0, 0, 0, 2, 2, 2, 1, 0, 0, 0] # EigenSTL::vector_Affine3d - [x, y, z, qw, qz, qy, qz, x, y, z, qw, qz, qy, qz] |
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i don't like this approach, why not:
param7:
- [1, 1, 1, 1, 0, 0, 0]
- [1, 1, 1, 1, 0, 0, 0]
- [1, 1, 1, 1, 0, 0, 0]
output: EigenSTL::vector_Affine3d
| * \brief Convert from N * 6 doubles of [x,y,z] [r,p,y] or N * 7 doubles of [x, y, z, qw, qx, qy, qz] to a vector of N transforms. | ||
| * \return true on success | ||
| */ | ||
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| * \return true on success | ||
| */ | ||
| bool convertDoublesToEigen(const std::string &parent_name, std::vector<double> values, Eigen::Affine3d &transform); | ||
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| /** | ||
| * \brief Convert from N * 6 doubles of [x,y,z] [r,p,y] or N * 7 doubles of [x, y, z, qw, qx, qy, qz] to a vector of N transforms. |
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this N6 or N7 thing is a bad idea for the reason you were explaining to me
src/rosparam_shortcuts.cpp
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| double qw = values[3]; | ||
| double qx = values[4]; | ||
| double qy = values[5]; | ||
| double qz = values[6]; |
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don't instantiate all this memory - pass the values directly into the Eigen() calls
src/rosparam_shortcuts.cpp
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| Eigen::Quaternion<double> quaternion = roll_angle * pitch_angle * yaw_angle; | ||
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| transform = Eigen::Translation3d(values[0], values[1], values[2]) * quaternion; | ||
| bool convertDoublesToEigenVector(const std::string &parent_name, std::vector<double> values, EigenSTL::vector_Affine3d& waypoints) |
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please rework this to take in a set of poses, not one long ugly array that is very error prone
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I removed the EigenSTL stuff because I ended up not needing it anyway. I might take another pass at it in the future. |
davetcoleman
approved these changes
Mar 7, 2018
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Adding support for loading Eigen poses from their quaternions and loading a waypoint trajectory.