From fb49d238616133d4255996caa33e8042cad42edb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 24 May 2019 19:40:40 +0200
Subject: [PATCH] replace Affine --> Isometry
---
hello_wolf/factor_bearing.h | 2 +-
hello_wolf/factor_range_bearing.h | 6 +++---
hello_wolf/processor_range_bearing.h | 2 +-
3 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/hello_wolf/factor_bearing.h b/hello_wolf/factor_bearing.h
index 56857fe0a..1b5ff4049 100644
--- a/hello_wolf/factor_bearing.h
+++ b/hello_wolf/factor_bearing.h
@@ -57,7 +57,7 @@ inline bool FactorBearing::operator ()(const T* const _p1, const T* const _o1,
{
// 1. produce a transformation matrix to transform from robot frame to world frame
- Transform<T, 2, Affine> H_w_r = Translation<T,2>(_p1[0], _p1[1]) * Rotation2D<T>(*_o1) ; // Robot frame = robot-to-world transform
+ Transform<T, 2, Isometry> H_w_r = Translation<T,2>(_p1[0], _p1[1]) * Rotation2D<T>(*_o1) ; // Robot frame = robot-to-world transform
// Map input pointers into meaningful Eigen elements
Map<const Matrix<T, 2, 1>> point_w(_p2);
Map<const Matrix<T, 1, 1>> res(_res);
diff --git a/hello_wolf/factor_range_bearing.h b/hello_wolf/factor_range_bearing.h
index c4a321bad..ffe896f75 100644
--- a/hello_wolf/factor_range_bearing.h
+++ b/hello_wolf/factor_range_bearing.h
@@ -97,11 +97,11 @@ inline bool FactorRangeBearing::operator ()(const T* const _p_w_r, // robot posi
Map<Matrix<T, 2, 1>> res(_res); // residual
// 1. produce transformation matrices to transform from sensor frame --> to robot frame --> to world frame
- Transform<T, 2, Affine> H_w_r = Translation<T,2>(_p_w_r[0], _p_w_r[1]) * Rotation2D<T>(*_o_w_r) ; // Robot frame = robot-to-world transform
- Transform<T, 2, Affine> H_r_s = Translation<T,2>(_p_r_s[0], _p_r_s[1]) * Rotation2D<T>(*_o_r_s) ; // Sensor frame = sensor-to-robot transform
+ Transform<T, 2, Isometry> H_w_r = Translation<T,2>(_p_w_r[0], _p_w_r[1]) * Rotation2D<T>(*_o_w_r) ; // Robot frame = robot-to-world transform
+ Transform<T, 2, Isometry> H_r_s = Translation<T,2>(_p_r_s[0], _p_r_s[1]) * Rotation2D<T>(*_o_r_s) ; // Sensor frame = sensor-to-robot transform
// 2. Transform world-referenced landmark point to sensor-referenced point
- Transform<T, 2, Affine> H_w_s = H_w_r * H_r_s; // world-to-sensor transform
+ Transform<T, 2, Isometry> H_w_s = H_w_r * H_r_s; // world-to-sensor transform
Matrix<T, 2, 1> lmk_s = H_w_s.inverse() * lmk; // point in sensor frame
// 3. Get the expected range-and-bearing of the point
diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index 30b2bd865..00592e5d6 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -30,7 +30,7 @@ WOLF_PTR_TYPEDEFS(ProcessorRangeBearing);
class ProcessorRangeBearing : public ProcessorBase
{
public:
- typedef Eigen::Transform<Scalar, 2, Eigen::Affine> Trf;
+ typedef Eigen::Transform<Scalar, 2, Eigen::Isometry> Trf;
ProcessorRangeBearing(const SensorRangeBearingPtr _sensor_ptr, ProcessorParamsBasePtr _params);
virtual ~ProcessorRangeBearing() {/* empty */}
--
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