12345qiupeng
/
cartographer
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix Rigid2 and Rigid3 to default to an identity transform. (#491)

master
Mac Mason 2017-08-31 02:32:04 -07:00 committed by Wolfgang Hess
parent 06e9112bc8
commit b54ca0cca6
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
cartographer/transform/rigid_transform.h
View File

@ -36,7 +36,7 @@ class Rigid2 {
using Rotation2D = Eigen::Rotation2D<FloatType>; using Rotation2D = Eigen::Rotation2D<FloatType>;
Rigid2() Rigid2()
: translation_(Vector::Identity()), rotation_(Rotation2D::Identity()) {} : translation_(Vector::Zero()), rotation_(Rotation2D::Identity()) {}
Rigid2(const Vector& translation, const Rotation2D& rotation) Rigid2(const Vector& translation, const Rotation2D& rotation)
: translation_(translation), rotation_(rotation) {} : translation_(translation), rotation_(rotation) {}
Rigid2(const Vector& translation, const double rotation) Rigid2(const Vector& translation, const double rotation)
@ -55,7 +55,7 @@ class Rigid2 {
} }
static Rigid2<FloatType> Identity() { static Rigid2<FloatType> Identity() {
return Rigid2<FloatType>(Vector::Zero(), Rotation2D::Identity()); return Rigid2<FloatType>();
} }
template <typename OtherType> template <typename OtherType>
@ -129,7 +129,7 @@ class Rigid3 {
using AngleAxis = Eigen::AngleAxis<FloatType>; using AngleAxis = Eigen::AngleAxis<FloatType>;
Rigid3() Rigid3()
: translation_(Vector::Identity()), rotation_(Quaternion::Identity()) {} : translation_(Vector::Zero()), rotation_(Quaternion::Identity()) {}
Rigid3(const Vector& translation, const Quaternion& rotation) Rigid3(const Vector& translation, const Quaternion& rotation)
: translation_(translation), rotation_(rotation) {} : translation_(translation), rotation_(rotation) {}
Rigid3(const Vector& translation, const AngleAxis& rotation) Rigid3(const Vector& translation, const AngleAxis& rotation)
@ -148,7 +148,7 @@ class Rigid3 {
} }
static Rigid3<FloatType> Identity() { static Rigid3<FloatType> Identity() {
return Rigid3<FloatType>(Vector::Zero(), Quaternion::Identity()); return Rigid3<FloatType>();
} }
template <typename OtherType> template <typename OtherType>