From c5ea0cb0204a46199f2c5be54da3361fb65f7b81 Mon Sep 17 00:00:00 2001 From: Aditya Date: Fri, 29 Jul 2022 11:53:00 -0700 Subject: [PATCH] review changes Signed-off-by: Aditya --- include/gz/sim/rendering/SceneManager.hh | 2 +- src/rendering/SceneManager.cc | 5 ++--- tutorials/spherical_coordinates.md | 8 ++++++-- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/include/gz/sim/rendering/SceneManager.hh b/include/gz/sim/rendering/SceneManager.hh index 4a7663df5c..ee3152e7e1 100644 --- a/include/gz/sim/rendering/SceneManager.hh +++ b/include/gz/sim/rendering/SceneManager.hh @@ -122,7 +122,7 @@ inline namespace GZ_SIM_VERSION_NAMESPACE { /// \param[in] _sphericalCoordinates SphericalCoordinates /// from the world. public: void SetSphericalCoordinates( - math::SphericalCoordinates _sphericalCoordinates); + const math::SphericalCoordinates &_sphericalCoordinates); /// \brief Create a model /// \param[in] _id Unique model id diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 4c42cdf0e7..de646e281c 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -130,8 +130,7 @@ class gz::sim::SceneManagerPrivate Entity _id, const std::chrono::steady_clock::duration &_time) const; /// \brief Holds the spherical coordinates from the world. - public: math::SphericalCoordinates sphericalCoordinates = - math::SphericalCoordinates(); + public: math::SphericalCoordinates sphericalCoordinates; }; @@ -625,7 +624,7 @@ rendering::VisualPtr SceneManager::CreateCollision(Entity _id, ///////////////////////////////////////////////// void SceneManager::SetSphericalCoordinates( - math::SphericalCoordinates _sphericalCoordinates) + const math::SphericalCoordinates &_sphericalCoordinates) { this->dataPtr->sphericalCoordinates = _sphericalCoordinates; } diff --git a/tutorials/spherical_coordinates.md b/tutorials/spherical_coordinates.md index 70588381f7..c33ba8578c 100644 --- a/tutorials/spherical_coordinates.md +++ b/tutorials/spherical_coordinates.md @@ -55,8 +55,12 @@ For example: ``` -At the moment, the only surface model supported is WGS84 and the only world -frame orientation is ENU. +Currently, the supported surface models are WGS84 for the Earth, +MOON_SCS for the Moon, and CUSTOM_SURFACE for other celestial bodies. +CUSTOM_SURFACE requires the equatorial and polar axes to be specified +in meters. + +The only world frame currently supported is ENU. Try out an example world that ships with Gazebo and has the coordinates above as follows: