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Potential fix for wildlife encounter animal poses #421

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Potential fix for wildlife encounter animal poses #421

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69ddb79
removed sandisland_test from CMakeLists.txt
alexperez33 Jan 21, 2022
d65186a
potential fix for wildlife encounter animal poses
alexperez33 Jan 25, 2022
4959cf4
corrected line that was too long for linter
alexperez33 Jan 25, 2022
f5f1826
Merge branch 'master' into master
alexperez33 Jan 25, 2022
6694bf9
fixed whitespace issue
alexperez33 Jan 25, 2022
247bfc0
Merge branch 'master' into master
caguero Feb 2, 2022
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8 changes: 6 additions & 2 deletions vrx_gazebo/src/wildlife_scoring_plugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -461,12 +461,16 @@ void WildlifeScoringPlugin::PublishAnimalLocations()
// Conversion from Gazebo Cartesian coordinates to spherical.
#if GAZEBO_MAJOR_VERSION >= 8
const ignition::math::Pose3d pose = buoy.link->WorldPose();
const ignition::math::Vector3d position =
this->world->SphericalCoords()->GlobalFromLocal(pose.Pos());
const ignition::math::Vector3d latlon =
this->world->SphericalCoords()->SphericalFromLocal(pose.Pos());
this->world->SphericalCoords()->SphericalFromLocal(position);
#else
const ignition::math::Pose3d pose = buoy.link->GetWorldPose().Ign();
const ignition::math::Vector3d position =
this->world->GetSphericalCoordinates()->GlobalFromLocal(pose.Pos());
const ignition::math::Vector3d latlon =
this->world->GetSphericalCoordinates()->SphericalFromLocal(pose.Pos());
this->world->GetSphericalCoordinates()->SphericalFromLocal(position);
#endif
const ignition::math::Quaternion<double> orientation = pose.Rot();

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