Switched the input/output of PositionTransform for SPHERICAL frame from radians to degrees. #597
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…om radians to degrees. This change is made to unify the units that are inputs/outputs to the coordinate transforms. Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
7 tasks
scpeters
reviewed
Jun 1, 2024
| @@ -281,7 +281,7 @@ namespace gz | |||
| public: void UpdateTransformationMatrix(); | |||
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| /// \brief Convert between positions in SPHERICAL/ECEF/LOCAL/GLOBAL frame | |||
| /// Spherical coordinates use radians, while the other frames use meters. | |||
| /// Spherical coordinates use degrees, while the other frames use meters. | |||
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I'm concerned about the behavior change here if people don't read the release notes, trying to think if there are better alternatives
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Yes, I agree this would be impractical. This PR is open for discussion. One obvious solution would be to rename the function, e.g. to TransformPosition (and, for consistency, also rename VelocityTransform). That would mean much more "unrelated" downstream changes, but at least no code would silently fail.
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🦟 Bug fix
Fixes #235 (comment)
Summary
This change is made to unify the units that are inputs/outputs to the coordinate transforms. Now everything working with spherical coordinates either uses
math::Angleor degrees.This is a breaking change and will require downstream changes at least in https://github.com/gazebosim/gz-sim/blob/40aaddc7eb4ca12a03b64e18ffc101db9f9c24ec/src/Util.cc#L694 .
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.