Transform the polygon points of an obstacle based off the pose of the… #527
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
malban
reviewed
Oct 31, 2018
| @@ -316,7 +316,6 @@ void generateObstacleData( | |||
| for (size_t j = 0; j < obs_msg.polygon.size(); j++) { | |||
| tf::Vector3 pt; | |||
| tf::pointMsgToTF(obs_msg.polygon[j], pt); | |||
| pt = pt - g_obs_from_local.getOrigin(); | |||
There was a problem hiding this comment.
seem to be missing the actual transform part
There was a problem hiding this comment.
never mind, its already there, you're just removing the incorrect translation
There was a problem hiding this comment.
Yea, I just removed the bad translation. The translation would have no effect when an identity pose was used, but this didn't work if the polygon was relative to the pose. I tested this change against current usages and it did not change the behavior.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
… obstacle