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Get yaw #112
Get yaw #112
Conversation
@Karsten1987, you must be so happy to have such a boss :) |
TODO: get it to work with Stamped version of the data. Will probably wait for #111 to be merged before updating. |
Thanks @vrabaud that looks like a good approach. Maybe euler.h would be a good file name? Keep it relatively clearly scoped. |
well, there is also getIdentity in there. |
how about a utils.h that would contain getTimestamp, getFrameId, getYaw, getEulerYPR, getIdentity and have convert.h include it (for backward compatiblity) and only contain doTransform, toMsg, fromMsg and convert ? |
ok, updated. @tfoote , @mikeferguson I need some advice before validating that:
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@vrabaud on the first point, that is exactly what I would expect, getEulerYPR(t.quaternion) is very clear what the intent is, and is not much more to write. On the getIdentity() -- I don't really have a strong opinion either way. I think it is fine as-is, and if it becomes a problem later, we can add additional specializations. |
I agree with @mikeferguson . This looks pretty good. Anything else you're thinking @vrabaud ? |
all I did was rename So, all good to me. |
that will be released after the indigo and jade syncs I guess ? |
This needs #111 to be in but it provides a few useful functions when using tf2. Maybe we should have a new header like utils.h or something.