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New helper function getIdentityPose() #122

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merged 1 commit into from
Aug 21, 2019
Merged

New helper function getIdentityPose() #122

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1 change: 1 addition & 0 deletions include/rviz_visual_tools/rviz_visual_tools.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1027,6 +1027,7 @@ class RvizVisualTools
* \param Pose to fill in
*/
static void generateEmptyPose(geometry_msgs::Pose& pose);
static geometry_msgs::Pose getIdentityPose();

/**
* \brief Test if two Eigen poses are close enough
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16 changes: 16 additions & 0 deletions src/rviz_visual_tools.cpp
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Expand Up @@ -2754,6 +2754,22 @@ void RvizVisualTools::generateEmptyPose(geometry_msgs::Pose& pose)
pose.orientation.w = 1;
}

geometry_msgs::Pose RvizVisualTools::getIdentityPose()
{
geometry_msgs::Pose pose;
// Position
pose.position.x = 0;
pose.position.y = 0;
pose.position.z = 0;

// Orientation on place
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pose.orientation.x = 0;
pose.orientation.y = 0;
pose.orientation.z = 0;
pose.orientation.w = 1;
return pose;
}

bool RvizVisualTools::posesEqual(const Eigen::Isometry3d& pose1, const Eigen::Isometry3d& pose2, double threshold)
{
static const std::size_t NUM_VARS = 16; // size of eigen matrix
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