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More clean variable names

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This commit is contained in:
Oleg Kalachev
2022-11-11 02:33:37 +06:00
parent 5ec04bbefa
commit c7bf964ea5
1 changed files with 10 additions and 10 deletions
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20
aruco_pose/src/utils.h
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@@ -106,26 +106,26 @@ inline bool isFlipped(tf::Quaternion& q)
return (abs(pitch) > M_PI / 2) || (abs(roll) > M_PI / 2);
}
/* Set roll and pitch from "from" to "to", keeping yaw */
inline void applyVertical(geometry_msgs::Quaternion& to, const geometry_msgs::Quaternion& from, bool auto_flip = false)
/* Apply a vertical to an orientation */
inline void applyVertical(geometry_msgs::Quaternion& orientation, const geometry_msgs::Quaternion& vertical, bool auto_flip = false)
{
tf::Quaternion _from, _to;
tf::quaternionMsgToTF(from, _from);
tf::quaternionMsgToTF(to, _to);
tf::Quaternion _vertical, _orientation;
tf::quaternionMsgToTF(vertical, _vertical);
tf::quaternionMsgToTF(orientation, _orientation);
if (auto_flip) {
if (!isFlipped(_from)) {
if (!isFlipped(_vertical)) {
static const tf::Quaternion flip = tf::createQuaternionFromRPY(M_PI, 0, 0);
_from *= flip; // flip "from"
_vertical *= flip; // flip vertical
}
}
auto diff = tf::Matrix3x3(_to).transposeTimes(tf::Matrix3x3(_from));
auto diff = tf::Matrix3x3(_orientation).transposeTimes(tf::Matrix3x3(_vertical));
double _, yaw;
diff.getRPY(_, _, yaw);
auto q = tf::createQuaternionFromRPY(0, 0, -yaw);
_from = _from * q; // set yaw from "to" to "from"
tf::quaternionTFToMsg(_from, to); // set "from" to "to"
_vertical = _vertical * q; // set yaw from orientation to vertical
tf::quaternionTFToMsg(_vertical, orientation); // set vertical to orientation
}
inline void transformToPose(const geometry_msgs::Transform& transform, geometry_msgs::Pose& pose)