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check for quaternion normalization before inserting into storage #194

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tfoote opened this issue Dec 10, 2016 · 0 comments

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commented Dec 10, 2016

If this is not done. Invalid quaternions can cause future queries to return nan values.
lookupTransform of Time(0) queries return the previously set invalid quaternions but not nans.

But time specific queries which use the interpolation give nans due to the interpolation trying to use the quaternions.

I expect that the most common case is all zero quaternions that have not been initialized correctly.

It should be checked approximately here: https://github.com/ros/geometry2/blob/indigo-devel/tf2/src/buffer_core.cpp#L243

@tfoote tfoote changed the title check for quaternion normalization before inserting into the graph check for quaternion normalization before inserting into storage Dec 10, 2016

@tfoote tfoote closed this in 558c115 Jan 9, 2017

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