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Backport get_identity_pose #156

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merged 2 commits into from
Jun 9, 2020
Merged

Backport get_identity_pose #156

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0c6b946
New helper function getIdentityPose() (#122)
davetcoleman Aug 21, 2019
15972a8
Deprecate generateEmptyPose
Dale-Koenig Jun 5, 2020
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3 changes: 2 additions & 1 deletion include/rviz_visual_tools/rviz_visual_tools.h
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Expand Up @@ -994,7 +994,8 @@ a * Warning: when using this in a loop be sure to call trigger() at end
* \brief Create a pose of position (0,0,0) and quaternion (0,0,0,1)
* \param Pose to fill in
*/
static void generateEmptyPose(geometry_msgs::Pose& pose);
[[deprecated("Replaced with getIdentityPose() in future releases")]] static void generateEmptyPose(geometry_msgs::Pose& pose);
static geometry_msgs::Pose getIdentityPose();

/**
* \brief Test if two Eigen poses are close enough
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16 changes: 16 additions & 0 deletions src/rviz_visual_tools.cpp
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Expand Up @@ -2685,6 +2685,22 @@ void RvizVisualTools::generateEmptyPose(geometry_msgs::Pose& pose)
pose.orientation.w = 1;
}

geometry_msgs::Pose RvizVisualTools::getIdentityPose()
{
geometry_msgs::Pose pose;
// Position
pose.position.x = 0;
pose.position.y = 0;
pose.position.z = 0;

// Orientation on place
pose.orientation.x = 0;
pose.orientation.y = 0;
pose.orientation.z = 0;
pose.orientation.w = 1;
return pose;
}

bool RvizVisualTools::posesEqual(const Eigen::Isometry3d& pose1, const Eigen::Isometry3d& pose2, double threshold)
{
static const std::size_t NUM_VARS = 16; // size of eigen matrix
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