Remove unnecessary subframes map copy

[felixvd]

As noted in #2816, I left a quick-and-dirty solution in #2037 . This commit was supposed to fix that, but it has a bug.

It's probably simple, so I'm putting this up for someone to make me look stupid.

[rhaschke]

I didn't look in detail. But is it ensured that both maps have the same entries before iterating over them in sync?
Alternatively, did you consider using std::transform?

What kind of bug do you observe? Crash? Wrong behavior?

[rhaschke]

I prefer the commited version. Using std::transform requires to reset the global map on each update (which is less efficient):

  {
    auto& local = obj->subframe_poses_;
    auto& global = obj->global_subframe_poses_;
    global.clear();
    std::transform(local.begin(), local.end(), std::inserter(global, global.end()),
                   [&obj](moveit::core::FixedTransformsMap::value_type& input) {
                     return std::make_pair(input.first, obj->pose_ * input.second);
                   });
  }

[codecov]

Codecov Report

Merging #2850 (16aef15) into master (b170d62) will increase coverage by 0.02%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master    #2850      +/-   ##
==========================================
+ Coverage   60.87%   60.88%   +0.02%     
==========================================
  Files         366      366              
  Lines       31705    31711       +6     
==========================================
+ Hits        19296    19305       +9     
+ Misses      12409    12406       -3     

Impacted Files	Coverage Δ
moveit_core/collision_detection/src/world.cpp	89.66% <100.00%> (+0.13%)	⬆️
moveit_core/robot_state/src/robot_state.cpp	51.65% <0.00%> (-<0.01%)	⬇️
...bot_state/include/moveit/robot_state/robot_state.h	85.04% <0.00%> (ø)
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	78.25% <0.00%> (+0.39%)	⬆️
...on/pick_place/src/approach_and_translate_stage.cpp	74.03% <0.00%> (+0.65%)	⬆️
...meterization/work_space/pose_model_state_space.cpp	83.02% <0.00%> (+1.89%)	⬆️

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[felixvd]

Thanks! I knew it was something simple :)

So the map copy still happens after all, but at least it is avoided when only the object pose is updated. Happy with this as is, feel free to merge.