fix uninitialized RobotState transforms #1271
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rhaschke
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Since 6cc3d62, the last row of transformation matrices, which is [0 0 0 1], is not touched during transform updates anymore. Hence, it needs explicit initialization. Also include initialization of dirty flag for transforms into new method initTransforms()
- utilize ScopedTimer helper class to reduce boiler plate code - use volatile variables to avoid compiler optimization of timing loop
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@v4hn Done. |
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Merged, thanks! I hate to say it, but this is another critical bugfix from my perspective. |
It's already scheduled: #1225 (comment) |
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With #1096, 6cc3d62, I slightly improved FK in RobotState, exploiting the fact that the last row of the transform matrix is always
[0 0 0 1], performing a3x4*4x4matrix multiplication. However, this improvement also requires an initialization of this row, once.This PR fixes this and also improves the corresponding timing tests.