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Make Axes display use latest transform #892

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Sep 1, 2022
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Make Axes display use latest transform #892

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2 changes: 1 addition & 1 deletion rviz_default_plugins/src/rviz_default_plugins/displays/axes/axes_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ void AxesDisplay::update(float dt, float ros_dt)
Ogre::Vector3 position;
Ogre::Quaternion orientation;
if (context_->getFrameManager()->getTransform(
frame, context_->getClock()->now(), position, orientation))
frame, position, orientation))
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nit (pre-existing) Documentation for this function seems insufficient:

rviz/rviz_common/include/rviz_common/frame_manager_iface.hpp

Lines 152 to 165 in 4e976dc

/// Return the pose for a frame relative to the fixed frame, in Ogre classes, at a given time.
/**
* \param[in] frame The frame to find the pose of.
* \param[out] position The position of the frame relative to the fixed frame.
* \param[out] orientation The orientation of the frame relative to the
* fixed frame.
* \return true on success, false on failure.
*/
virtual
bool
getTransform(
const std::string & frame,
Ogre::Vector3 & position,
Ogre::Quaternion & orientation) = 0;

Is it possible to update that docstring to mention it's effectively using TimePointZero?

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Updated docs in #893

{
axes_->getSceneNode()->setVisible(true);
axes_->setPosition(position);
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