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Deprecate LOCAL2 in SphericalCoordinates #450

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Deprecate LOCAL2 in SphericalCoordinates #450

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8 changes: 8 additions & 0 deletions core/include/gz/msgs/convert/SphericalCoordinates.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,9 @@ inline namespace GZ_MSGS_VERSION_NAMESPACE {
inline msgs::SphericalCoordinatesType ConvertCoord(
const math::SphericalCoordinates::CoordinateType &_sc)
{
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
auto result = msgs::SphericalCoordinatesType::LOCAL2;
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
switch (_sc)
{
case math::SphericalCoordinates::CoordinateType::ECEF:
Expand All @@ -49,9 +51,11 @@ inline msgs::SphericalCoordinatesType ConvertCoord(
case math::SphericalCoordinates::CoordinateType::LOCAL:
result = msgs::SphericalCoordinatesType::LOCAL;
break;
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
case math::SphericalCoordinates::CoordinateType::LOCAL2:
result = msgs::SphericalCoordinatesType::LOCAL2;
break;
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
default:
std::cerr << "Invalid coordinate type passed" << std::endl;
}
Expand All @@ -72,12 +76,16 @@ inline math::SphericalCoordinates::CoordinateType Convert(
return math::SphericalCoordinates::CoordinateType::SPHERICAL;
case msgs::SphericalCoordinatesType::LOCAL:
return math::SphericalCoordinates::CoordinateType::LOCAL;
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
case msgs::SphericalCoordinatesType::LOCAL2:
return math::SphericalCoordinates::CoordinateType::LOCAL2;
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
default:
std::cerr << "Invalid coordinate type passed" << std::endl;
}
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
return math::SphericalCoordinates::CoordinateType::LOCAL2;
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
}

/////////////////////////////////
Expand Down
4 changes: 1 addition & 3 deletions proto/gz/msgs/spherical_coordinates.proto
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Expand Up @@ -39,12 +39,10 @@ enum SphericalCoordinatesType
GLOBAL = 2;

/// \brief Heading-adjusted tangent plane (X, Y, Z)
/// This has kept a bug for backwards compatibility, use
/// LOCAL2 for the correct behaviour.
LOCAL = 3;

/// \brief Heading-adjusted tangent plane (X, Y, Z)
LOCAL2 = 4;
LOCAL2 = 4 [deprecated=true];
}

message SphericalCoordinates
Expand Down
9 changes: 9 additions & 0 deletions test/integration/Utility_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -354,8 +354,10 @@ TEST(MsgsTest, ConvertMathSphericalCoordinatesToMsgs)
msgs::ConvertCoord(math::SphericalCoordinates::CoordinateType::SPHERICAL));
EXPECT_EQ(msgs::SphericalCoordinatesType::LOCAL,
msgs::ConvertCoord(math::SphericalCoordinates::CoordinateType::LOCAL));
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
EXPECT_EQ(msgs::SphericalCoordinatesType::LOCAL2,
msgs::ConvertCoord(math::SphericalCoordinates::CoordinateType::LOCAL2));
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION

EXPECT_EQ(math::SphericalCoordinates::CoordinateType::ECEF,
msgs::Convert(msgs::SphericalCoordinatesType::ECEF));
Expand All @@ -365,8 +367,11 @@ TEST(MsgsTest, ConvertMathSphericalCoordinatesToMsgs)
msgs::Convert(msgs::SphericalCoordinatesType::SPHERICAL));
EXPECT_EQ(math::SphericalCoordinates::CoordinateType::LOCAL,
msgs::Convert(msgs::SphericalCoordinatesType::LOCAL));
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
EXPECT_EQ(math::SphericalCoordinates::CoordinateType::LOCAL2,
msgs::Convert(msgs::SphericalCoordinatesType::LOCAL2));
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION


auto msg = msgs::Convert(
math::SphericalCoordinates(
Expand Down Expand Up @@ -452,10 +457,12 @@ TEST(MsgsTest, ConvertMsgsSphericalCoordinatesTypeToMath)
math::SphericalCoordinates::CoordinateType::SPHERICAL);
EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::LOCAL),
math::SphericalCoordinates::CoordinateType::LOCAL);
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::LOCAL2),
math::SphericalCoordinates::CoordinateType::LOCAL2);
EXPECT_EQ(Convert((msgs::SphericalCoordinatesType)500000),
math::SphericalCoordinates::CoordinateType::LOCAL2);
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
}

/////////////////////////////////////////////////
Expand All @@ -473,12 +480,14 @@ TEST(MsgsTest, ConvertMathSphericalCoordinatedTypeToMsg)
EXPECT_EQ(msgs::ConvertCoord(
math::SphericalCoordinates::CoordinateType::LOCAL),
msgs::SphericalCoordinatesType::LOCAL);
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
EXPECT_EQ(msgs::ConvertCoord(
math::SphericalCoordinates::CoordinateType::LOCAL2),
msgs::SphericalCoordinatesType::LOCAL2);
EXPECT_EQ(msgs::ConvertCoord(
(math::SphericalCoordinates::CoordinateType)500000),
msgs::SphericalCoordinatesType::LOCAL2);
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
}

/////////////////////////////////////////////////
Expand Down
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