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OdomF2M: added support to laser scan

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matlabbe
2016-03-06 15:11:09 -05:00
parent eefd557ab4
commit 7a1cf84b08
22 changed files with 696 additions and 226 deletions
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corelib/src/Transform.cpp
+10 -3
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@@ -243,9 +243,16 @@ Transform Transform::interpolate(float t, const Transform & other) const
std::string Transform::prettyPrint() const
{
float x,y,z,roll,pitch,yaw;
getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
return uFormat("xyz=%f,%f,%f rpy=%f,%f,%f", x,y,z, roll,pitch,yaw);
if(this->isNull())
{
return uFormat("xyz=[null] rpy=[null]");
}
else
{
float x,y,z,roll,pitch,yaw;
getTranslationAndEulerAngles(x, y, z, roll, pitch, yaw);
return uFormat("xyz=%f,%f,%f rpy=%f,%f,%f", x,y,z, roll,pitch,yaw);
}
}
Transform Transform::operator*(const Transform & t) const