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math::pose and raySensor

asked 2013-03-06 11:47:34 -0600

SImone gravatar image

I've a question about pose management and in particular regarding the world pose of a RaySensor calculation

the line 265 in RaySensor.cc calculate the world position of the raySensor as

this->parentEntity->GetWorldPose() + this->GetPose()

while in other part of code, e.g., IMU use (at line 140-141 of ImuSensor.cc)

math::Pose parentEntityPose = this->parentEntity->GetWorldPose();
math::Pose imuPose = this->pose + parentEntityPose;

Now, I've done some experiment with the math::Pose class and I think that the second way is the right one, since pose composition uses a postfix notation. So, imho this is a bug in the RaySensor implementation. Someone have experienced problems with this?

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answered 2013-03-06 14:41:47 -0600

nkoenig gravatar image

You are correct. Thanks for the bug report. Here is a pull request.

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Asked: 2013-03-06 11:47:34 -0600

Seen: 199 times

Last updated: Mar 06 '13