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Model-based design and verification for robotics.
https://drake.mit.edu
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refactor RotationMatrix::IsIdentityToInternalTolerance() => IsNearlyIdentity() #16551

Closed mitiguy closed 2 years ago

mitiguy commented 2 years ago

This follows issue #16524 that was resolved with PR #16541 which changed:

RigidTransform::IsIdentityToEpsilon(double translation_tolerance) to RigidTransform::IsNearlyIdentity(double translation_tolerance);

Similarly, the related methods in RotationMatrix are: Public methods: RotationMatrix::IsExactlyIdentity(); RotationMatrix::IsIdentityToInternalTolerance(); RotationMatrix::IsNearlyEqualTo(const RotationMatrix& other, double tolerance); RotationMatrix::IsExactlyEqualTo(const RotationMatrix& other); Private method: static boolean IsNearlyEqualTo(const Matrix3& R, const Matrix3& other, double tolerance);

For consistency, and per Jeremy's suggestion in issue #16524, change RotationMatrix::IsIdentityToInternalTolerance() to RotationMatrix::IsNearlyIdentity(double tolerance = get_internal_tolerance_for_orthonormality()) const;

xuchenhan-tri commented 2 years ago

Looks like RotationMatrix::IsIdentityToInternalTolerance() is already deprecated. Are we ready to close this issue?

mitiguy commented 2 years ago

Resolved with PR #16541.