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Fix SphericalCoordinate deprecation warning in DVL sensor #460

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merged 2 commits into from
Aug 23, 2024
Merged

Fix SphericalCoordinate deprecation warning in DVL sensor #460

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692c520
Fix deprecation warning
iche033 Aug 23, 2024
18faa46
made const
iche033 Aug 23, 2024
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26 changes: 24 additions & 2 deletions src/DopplerVelocityLog.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1731,12 +1731,34 @@ namespace gz
samplePointInSensorFrame;

// Transform sample point to the environmental data frame
const gz::math::Vector3d samplePointInDataFrame =
const std::optional<gz::math::CoordinateVector3>
samplePointInDataFrameCoordVec =
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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@iche033 iche033 Aug 23, 2024 •
edited
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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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@arjo129 what do you think?

gz::math::SphericalCoordinates::GLOBAL,
this->waterVelocityReference);

if (!samplePointInDataFrameCoordVec.has_value())
continue;

gz::math::Vector3d samplePointInDataFrame;
if (samplePointInDataFrameCoordVec->IsSpherical())
{
samplePointInDataFrame.Set(
samplePointInDataFrameCoordVec->Lat()->Radian(),
samplePointInDataFrameCoordVec->Lon()->Radian(),
*samplePointInDataFrameCoordVec->Z());
}
else if (samplePointInDataFrameCoordVec->IsMetric())
{
samplePointInDataFrame =
*samplePointInDataFrameCoordVec->AsMetricVector();
}
else
{
continue;
}

// Sample water velocity in the world frame at sample point
const gz::math::Vector3d sampledVelocityInWorldFrame =
this->waterVelocity->LookUp(samplePointInDataFrame);
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