fix Eigen::Affine3d for Melodic (using Eigen::Isometry3d) #1096

rhaschke · 2018-10-17T10:29:25Z

Alternative implementation of #1091 using the type Eigen::Isometry instead of Eigen::Affine for homogeneous transforms. While Eigen::Affine allows for arbitrary affine transformation, we actually need to deal with rigid-body transforms only, i.e. rotations + translations. To this end, Eigen provides the type Isometry, which provides more efficient versions for invert() and rotation().

moveit_core/transforms/src/transforms.cpp

rhaschke · 2018-10-17T20:41:20Z

Just noticed that we need to switch to Eigen::Isometry in geometry_shapes as well!

rhaschke · 2018-10-17T22:40:29Z

fix tf2_eigen: conversions for Eigen::Isometry3d ros/geometry2#335
fix fix Eigen::Affine3d -> Eigen::Isometry3d geometric_shapes#88
added some additional fixes here
adapt https://github.com/ros-planning/moveit_visual_tools and more?

Now it compiles on my side. So, looks like the approach is feasible w/o too much effort.
Note: All changes to ros-planning related packages need to be made synchronously!

davetcoleman

i did an initial review and i like this approach, thanks Robert!

davetcoleman · 2018-10-18T03:04:46Z

moveit_core/collision_detection/include/moveit/collision_detection/world.h

@@ -104,7 +104,7 @@ class World
    /** \brief The poses of the corresponding entries in shapes_.
     *
     * @copydetails shapes_ */
-    EigenSTL::vector_Affine3d shape_poses_;
+    EigenSTL::vector_Isometry3d shape_poses_;


@Levi-Armstrong what do you think of these changes to collision world?

moveit_core/constraint_samplers/src/default_constraint_samplers.cpp

rhaschke · 2018-10-22T20:22:12Z

Rebased to resolve merge conflict.

davetcoleman · 2018-10-24T00:15:48Z

Tested locally and it builds for me. Note you need to catkin clean first. Also ported moveit_visual_tools:

PickNikRobotics/rviz_visual_tools#105
moveit/moveit_visual_tools#39

mcevoyandy

I think this looks good. Would it be worth it to put more of an explanation of why Isometry3d is used instead of Affine3d?

rhaschke · 2018-11-11T14:58:09Z

@davetcoleman I rebased this to fix conflicts introduced by your renaming of kstate / kmodel variables in #1179. Can we proceed with this set of PRs?
If so, I suggest to merge and prepare a release immediately after.

rhaschke · 2018-11-28T09:35:13Z

Merging done. Waiting for feedback on #1225 (comment) before proceeding with releases.

v4hn · 2018-11-29T17:24:02Z

It looks like this broke the build on Ubuntu 16.04 with an Eigen static assertion failure...

YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION

@2scholz just spotted the problem.

rhaschke · 2018-11-29T19:46:34Z

Could you please be more specific (as you can easily verify, Travis succeeds).
This whole set of changes (see main comment) needs to be applied to let this work. You might also need to adapt your own code to use Eigen::Isometry instead of Eigen::Affine.

2scholz · 2018-11-29T20:33:54Z

After numerous clean builds, updating every package in the workspace and a reboot the error is gone now.
I am not sure what the cause was. Sorry for the false alarm.

jonbinney · 2018-12-06T01:46:41Z

Huh... I ran into that same invalid transformation assertion 18.04 just now using latest melodic-devel. Running apt-get dist-upgrade to see if that helps.

rhaschke · 2018-12-06T08:10:17Z

@jonbinney As pointed out above, this whole change-set is not yet released. Hence, you need to build all mentioned packages from source to succeed.

jonbinney · 2018-12-06T20:14:28Z

Yeah - I was missing geometric_shapes from source. Thanks!

simonschmeisser · 2018-12-06T20:20:43Z

Same happened for me some days ago, can we have version checks on catkin packages in CMake?

This is to keep up with the recent changes in moveit (moveit/moveit#1096) and keep this package building. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

…_motion/#38) This is to keep up with the recent changes in moveit (moveit/moveit#1096) and keep this package building. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>

rhaschke changed the title ~~Fix affine isometry~~ fix Eigen::Affine3d -> Eigen::Isometry3d Oct 17, 2018

rhaschke mentioned this pull request Oct 17, 2018

fix Eigen::Affine3d for Kinetic #1091

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simonschmeisser reviewed Oct 17, 2018

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moveit_core/transforms/src/transforms.cpp Show resolved Hide resolved

rhaschke mentioned this pull request Oct 17, 2018

fix Eigen::Affine3d -> Eigen::Isometry3d moveit/geometric_shapes#88

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rhaschke force-pushed the fix-affine-isometry branch from 894965d to 8e96201 Compare October 17, 2018 22:32

davetcoleman reviewed Oct 18, 2018

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davetcoleman requested a review from mcevoyandy October 18, 2018 03:10

rhaschke mentioned this pull request Oct 18, 2018

Eigen::Affine3d and SVD #1073

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rhaschke force-pushed the fix-affine-isometry branch from c205473 to 8e96201 Compare October 20, 2018 15:52

rhaschke changed the title ~~fix Eigen::Affine3d -> Eigen::Isometry3d~~ fix Eigen::Affine3d for Melodic (using Eigen::Isometry3d) Oct 20, 2018

rhaschke mentioned this pull request Oct 21, 2018

2018 Fall Release Kinetic and Melodic #1083

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rhaschke force-pushed the fix-affine-isometry branch from bf6f53f to c9183b7 Compare October 22, 2018 20:21

This was referenced Oct 24, 2018

Fix Eigen::Affine3d for Melodic (using Eigen::Isometry3d) PickNikRobotics/rviz_visual_tools#105

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Fix Eigen::Affine3d for Melodic (using Eigen::Isometry3d) moveit/moveit_visual_tools#39

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rhaschke force-pushed the fix-affine-isometry branch from c9183b7 to fb15c97 Compare October 24, 2018 07:08

This was referenced Oct 24, 2018

conversions for Eigen::Isometry3d ros/geometry2#335

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Timing tests #1128

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rhaschke force-pushed the fix-affine-isometry branch 2 times, most recently from e5e029d to bd4373d Compare October 27, 2018 10:09

mcevoyandy approved these changes Nov 10, 2018

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rhaschke force-pushed the fix-affine-isometry branch 2 times, most recently from e09b2ff to 9e0113d Compare November 11, 2018 13:00

rhaschke mentioned this pull request Nov 11, 2018

replace Affine3d with Isometry3d moveit/moveit_tutorials#255

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rhaschke force-pushed the fix-affine-isometry branch from 9e0113d to 43128ca Compare November 11, 2018 14:37

rhaschke force-pushed the fix-affine-isometry branch from 43128ca to 635de0d Compare November 11, 2018 15:07

rhaschke added 3 commits November 28, 2018 06:50

use affine() for multiplications

6cc3d62

added migration note

112e7aa

moveit.rosinstall: add rviz_visual_tools

0b1d470

rhaschke force-pushed the fix-affine-isometry branch from f907cf2 to 0b1d470 Compare November 28, 2018 05:50

rhaschke merged commit 68eb44d into moveit:melodic-devel Nov 28, 2018

rhaschke deleted the fix-affine-isometry branch November 28, 2018 06:16

wxmerkt mentioned this pull request Dec 10, 2018

Upgrade clang format requirement to 3.9 ipab-slmc/exotica#419

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clalancette mentioned this pull request Dec 11, 2018

Convert Eigen::Affine3d -> Eigen::Isometry3d. PilzDE/pilz_industrial_motion#38

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rhaschke mentioned this pull request Dec 16, 2018

fix uninitialized RobotState transforms #1271

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simonschmeisser mentioned this pull request Dec 18, 2018

Melodic compatibility ros-industrial-attic/industrial_moveit#82

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This was referenced Jan 11, 2019

Switching from Affine3d to Isometry3d following recent MoveIt changes ros-industrial-consortium/descartes#235

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Error when building descartes from source with melodic-migration branch ros-industrial-consortium/descartes#234

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jwhendy mentioned this pull request Jan 20, 2019

Error trying to follow melodic tutorial moveit/moveit_tutorials#262

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kkufieta mentioned this pull request Jan 24, 2019

Switching from Affine3d to Isometry3d following recent MoveIt changes in Melodic ros-industrial-consortium/descartes_tutorials#15

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davetcoleman mentioned this pull request Feb 19, 2019

Port transforms submodule of moveit_core of ROS 2 moveit/moveit2#12

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henningkayser mentioned this pull request May 2, 2019

Update MoveIt dependencies to current master branch plusone-robotics/moveit_simple#87

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JeroenDM mentioned this pull request Aug 30, 2019

Only use Isometry3d instead of Affine3d (melodic) JeroenDM/moveit_opw_kinematics_plugin#26

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rhaschke mentioned this pull request Feb 23, 2021

Fix for GCC5 (Ubuntu 16.04 / Kinetic) call to non-constexpr function moveit/moveit_task_constructor#163

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JafarAbdi pushed a commit to JafarAbdi/moveit that referenced this pull request Mar 24, 2022

[moveit_cpp] Fix config of multiple pipelines (moveit#1096)

d59a463

Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>

v4hn pushed a commit to v4hn/moveit that referenced this pull request May 6, 2022

[moveit_cpp] Fix config of multiple pipelines (moveit#1096)

5c149a4

Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>

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fix Eigen::Affine3d for Melodic (using Eigen::Isometry3d) #1096

fix Eigen::Affine3d for Melodic (using Eigen::Isometry3d) #1096

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fix Eigen::Affine3d for Melodic (using Eigen::Isometry3d) #1096

fix Eigen::Affine3d for Melodic (using Eigen::Isometry3d) #1096

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