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Fixed wrongly yaw reset instead of pitch when resetting odometry to a pose with Force2D enabled

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matlabbe
2015-12-07 10:19:08 -05:00
parent 60f34fe994
commit 6c452137b2
1 changed files with 2 additions and 2 deletions
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4
corelib/src/Odometry.cpp
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@@ -124,13 +124,13 @@ void Odometry::reset(const Transform & initialPose)
if(_force2D) if(_force2D)
{ {
if(z != 0.0f || roll != 0.0f || yaw != 0.0f) if(z != 0.0f || roll != 0.0f || pitch != 0.0f)
{ {
UWARN("Force2D=true and the initial pose contains z, roll or pitch values (%s). They are set to null.", initialPose.prettyPrint().c_str()); UWARN("Force2D=true and the initial pose contains z, roll or pitch values (%s). They are set to null.", initialPose.prettyPrint().c_str());
} }
z = 0; z = 0;
roll = 0; roll = 0;
yaw = 0; pitch = 0;
Transform pose(x, y, z, roll, pitch, yaw); Transform pose(x, y, z, roll, pitch, yaw);
_pose = pose; _pose = pose;
} }