Pose3: deprecate + operator in favor of *

The * operator matches the behavior of multiplying transform matrices, so it should be preferred over the addition operator, which is confusing. Part of gazebosim#60. Signed-off-by: Steve Peters <[email protected]>
scpeters · Feb 25, 2022 · caf941d · caf941d
1 parent 04028c9
commit caf941d
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Showing 2 changed files with 13 additions and 11 deletions.
diff --git a/include/ignition/math/Pose3.hh b/include/ignition/math/Pose3.hh
@@ -20,6 +20,7 @@
 #include <ignition/math/Quaternion.hh>
 #include <ignition/math/Vector3.hh>
 #include <ignition/math/config.hh>
+#include <ignition/utils/SuppressWarning.hh>
 
 namespace ignition
 {
@@ -183,7 +184,7 @@ namespace ignition
       /// then, B + A is the transform from O to Q specified in frame O
       /// \param[in] _pose Pose3<T> to add to this pose.
       /// \return The resulting pose.
-      public: Pose3<T> operator+(const Pose3<T> &_pose) const
+      public: Pose3<T> IGN_DEPRECATED(7) operator+(const Pose3<T> &_pose) const
       {
         Pose3<T> result;
 
@@ -197,7 +198,8 @@ namespace ignition
       /// \param[in] _pose Pose3<T> to add to this pose.
       /// \sa operator+(const Pose3<T> &_pose) const.
       /// \return The resulting pose.
-      public: const Pose3<T> &operator+=(const Pose3<T> &_pose)
+      public: const Pose3<T> & IGN_DEPRECATED(7)
+              operator+=(const Pose3<T> &_pose)
       {
         this->p = this->CoordPositionAdd(_pose);
         this->q = this->CoordRotationAdd(_pose.q);

diff --git a/src/Pose_TEST.cc b/src/Pose_TEST.cc
@@ -61,17 +61,17 @@ TEST(PoseTest, Pose)
     // test hypothesis that if
     // A is the transform from O to P specified in frame O
     // B is the transform from P to Q specified in frame P
-    // then, B + A is the transform from O to Q specified in frame O
+    // then, A * B is the transform from O to Q specified in frame O
     math::Pose3d A(math::Vector3d(1, 0, 0),
                    math::Quaterniond(0, 0, IGN_PI/4.0));
     math::Pose3d B(math::Vector3d(1, 0, 0),
                    math::Quaterniond(0, 0, IGN_PI/2.0));
-    EXPECT_TRUE(math::equal((B + A).Pos().X(), 1.0 + 1.0/sqrt(2)));
-    EXPECT_TRUE(math::equal((B + A).Pos().Y(),       1.0/sqrt(2)));
-    EXPECT_TRUE(math::equal((B + A).Pos().Z(),               0.0));
-    EXPECT_TRUE(math::equal((B + A).Rot().Euler().X(),  0.0));
-    EXPECT_TRUE(math::equal((B + A).Rot().Euler().Y(),  0.0));
-    EXPECT_TRUE(math::equal((B + A).Rot().Euler().Z(), 3.0*IGN_PI/4.0));
+    EXPECT_TRUE(math::equal((A * B).Pos().X(), 1.0 + 1.0/sqrt(2)));
+    EXPECT_TRUE(math::equal((A * B).Pos().Y(),       1.0/sqrt(2)));
+    EXPECT_TRUE(math::equal((A * B).Pos().Z(),               0.0));
+    EXPECT_TRUE(math::equal((A * B).Rot().Euler().X(),  0.0));
+    EXPECT_TRUE(math::equal((A * B).Rot().Euler().Y(),  0.0));
+    EXPECT_TRUE(math::equal((A * B).Rot().Euler().Z(), 3.0*IGN_PI/4.0));
   }
   {
     // If:
@@ -135,11 +135,11 @@ TEST(PoseTest, Pose)
   EXPECT_TRUE(pose1.Rot() ==
       math::Quaterniond(0.946281, -0.0933066, -0.226566, -0.210984));
 
-  pose = math::Pose3d(1, 2, 3, .1, .2, .3) + math::Pose3d(4, 5, 6, .4, .5, .6);
+  pose = math::Pose3d(4, 5, 6, .4, .5, .6) * math::Pose3d(1, 2, 3, .1, .2, .3);
   EXPECT_TRUE(pose ==
       math::Pose3d(5.74534, 7.01053, 8.62899, 0.675732, 0.535753, 1.01174));
 
-  pose += pose;
+  pose *= pose;
   EXPECT_TRUE(pose ==
       math::Pose3d(11.314, 16.0487, 15.2559, 1.49463, 0.184295, 2.13932));