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Add doTransform function for twists or wrenches #406

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Merged
merged 3 commits into from
Oct 3, 2021
Merged

Add doTransform function for twists or wrenches #406

merged 3 commits into from
Oct 3, 2021

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@AndyZe
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@AndyZe AndyZe commented Apr 28, 2021 •
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I think this would be convenient for a lot of people!

It would be cool if there were a way to return an error if the VectorXd is not 6 long.

@AndyZe AndyZe force-pushed the andyz/twist_wrench_transform branch 7 times, most recently from e3fc3b7 to 8d67d1e Compare May 3, 2021 03:50
@AndyZe AndyZe mentioned this pull request May 3, 2021
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@AndyZe AndyZe force-pushed the andyz/twist_wrench_transform branch from 8d67d1e to 11fd9e1 Compare May 5, 2021 13:23
@clalancette clalancette self-assigned this May 20, 2021
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AndyZe commented Jun 9, 2021

Pinging for review.

@AndyZe AndyZe force-pushed the andyz/twist_wrench_transform branch from 11fd9e1 to f8a2f32 Compare June 9, 2021 15:13
@aprotyas
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aprotyas commented Sep 23, 2021

It would be cool if there were a way to return an error if the VectorXd is not 6 long.

Naive thought, but you could check at runtime with vector.size() right?

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aprotyas reviewed Sep 23, 2021
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Math LGTM on a cursory pass. Will leave a proper review soon.
One style suggestion in-line.

@AndyZe AndyZe mentioned this pull request Oct 1, 2021
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clalancette requested changes Oct 1, 2021
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One minor formatting fix, then I think we can run CI on this.

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clalancette commented Oct 1, 2021 •
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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

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clalancette commented Oct 1, 2021

Failures on Windows CI are unrelated to this change. But since Windows is the most likely to have problems, I'm going to wait until Windows is fixed and re-run it before merging.

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clalancette commented Oct 2, 2021

The warning on Windows is likely because this PR needs to be rebased. @AndyZe mind doing that?

AndyZe and others added 3 commits October 2, 2021 14:34
@AndyZe AndyZe force-pushed the andyz/twist_wrench_transform branch from 6fd9fda to 7037c59 Compare October 2, 2021 19:50
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aprotyas commented Oct 2, 2021

CI (build: --packages-up-to tf2_eigen, test: --packages-select tf2_eigen)

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

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clalancette commented Oct 3, 2021

The macOS failure is in the nightlies as well, so this looks good. Thanks for iterating!

@clalancette clalancette merged commit 9f4acba into ros2:ros2 Oct 3, 2021
@AndyZe AndyZe mentioned this pull request Oct 20, 2021
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@clalancette clalancette mentioned this pull request Apr 29, 2022
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