Fix SphericalCoordinate deprecation warning in DVL sensor #460
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Signed-off-by: Ian Chen <[email protected]>
arjo129
approved these changes
Aug 23, 2024
arjo129
reviewed
Aug 23, 2024
Signed-off-by: Ian Chen <[email protected]>
peci1
reviewed
Aug 23, 2024
| this->worldState->origin.PositionTransform( | ||
| samplePointInWorldFrame, | ||
| gz::math::CoordinateVector3::Metric(samplePointInWorldFrame), |
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@iche033 Technically, if somebody used LOCAL for reference, this will probably silently change the behavior. It is possible this would go completely without a build warning if the value is read from SDF. But I haven't worked with DVL, so I don't know if setting LOCAL would make sense...
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I'm not very familiar with it as well. I looked at the possible frames that gz-sim eventually passes to DVL, and I think they are: GLOBAL, SPHERICAL, and ECEF (from the EnvironmentPreload system, and EnvironmentLoader GUI plugin). Maybe @arjo129 knows more about this and can chime in?
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🦟 Bug fix
Summary
Fixed deprecation warning by updating the
gz::math::SphericalCoordinate::PositionTransformcall to use the newgz::math::CoordinateVector3arg introduced in gazebosim/gz-math#616.cc @peci1
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