tf2_geometry_msgs: Fixing covariance transformation in doTransform<PoseWithCovarianceStamped, TransformStamped>
#430
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added 2 commits
June 7, 2021 19:04
* The transform operation has been performed with the row-major form of the covariance matrix. * tf2 matrix types were used for easier matrix multiplication. Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org>
* The previous test was doing a wrong covariance check, i.e. out.covariance = in.covariance. * The updated test checks against the correctly transformed covariance matrix. Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org>
sloretz
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Jun 8, 2021
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The math LGTM (I only checked that it matches the ROS 1 code)
tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
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tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
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tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
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aprotyas
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Jun 8, 2021
tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
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Previously, `transformCovariance`'s transform argument was of type `geometry_msgs::msg::Transform`, which is not a "general" transform type, but rather a message type. As such, that argument type has been changed to `tf2::Transform`, so that the user can convert from whatever transform type they have to a tf Transform. Also: * Moved location of a forward declaration to be closer to its use. * Applied `ament_uncrustify` changes for maximum line length, changing the `transformCovariance` signature ine. * Reflected change in `transformCovariance` function signature in doxygen documentation. Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org>
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clalancette
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Jun 11, 2021
tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
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Leading tabs prevented the function parameters from lining up, both in the Github UI and in Vim. Converting all tabs to spaces fixes said issue. Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org>
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@Mergifyio backport galactic foxy |
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Dec 21, 2021
…<PoseWithCovarianceStamped, TransformStamped>` (#430) Fixes #372. * Implement covariance transformation (cpp). * Fixed `TfGeometry/FrameWithCovariance` test. The updated test checks against the correctly transformed covariance matrix. Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org> (cherry picked from commit ae30f0b) # Conflicts: # tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
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Dec 21, 2021
…<PoseWithCovarianceStamped, TransformStamped>` (#430) Fixes #372. * Implement covariance transformation (cpp). * Fixed `TfGeometry/FrameWithCovariance` test. The updated test checks against the correctly transformed covariance matrix. Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org> (cherry picked from commit ae30f0b) # Conflicts: # tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
✅ Backports have been created
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aprotyas
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Dec 21, 2021
…<PoseWithCovarianceStamped, TransformStamped>` (#430) Fixes #372. * Implement covariance transformation (cpp). * Fixed `TfGeometry/FrameWithCovariance` test. The updated test checks against the correctly transformed covariance matrix. Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org> (cherry picked from commit ae30f0b)
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Dec 21, 2021
…<PoseWithCovarianceStamped, TransformStamped>` (#430) Fixes #372. * Implement covariance transformation (cpp). * Fixed `TfGeometry/FrameWithCovariance` test. The updated test checks against the correctly transformed covariance matrix. Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org> (cherry picked from commit ae30f0b)
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Dec 23, 2021
…<PoseWithCovarianceStamped, TransformStamped>` (#430) (#488) Fixes #372. * Implement covariance transformation (cpp). * Fixed `TfGeometry/FrameWithCovariance` test. The updated test checks against the correctly transformed covariance matrix. Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org> (cherry picked from commit ae30f0b)
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Dec 23, 2021
…<PoseWithCovarianceStamped, TransformStamped>` (#430) (#489) Fixes #372. * Implement covariance transformation (cpp). * Fixed `TfGeometry/FrameWithCovariance` test. The updated test checks against the correctly transformed covariance matrix. Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org> (cherry picked from commit ae30f0b)
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Previously, the covariance matrix of a
PoseWithCovarianceStampedmessage was incorrectly transformed. This PR:transformCovariancemethod to address the covariance transformation.TfGeometry/FrameWithCovarianceunit test to check for the expected transformed covariance.Fixes #372