High Level Description
The mutable Pose class does not update the cached heading value when orientation is updated directly. There is a reset_with(..) method that will do that but it is not enforced.
SMARTS version
[e.g. 0.5.0]
Impact [If known]
Heading can become desynchronized from orientation.
When this is fixed properly, we should probably audit and remove places where we've hacked around this in the past (such as lines 458-459 of ros_driver.py).
BUG REPORT
High Level Description The mutable
Pose
class does not update the cachedheading
value when orientation is updated directly. There is areset_with(..)
method that will do that but it is not enforced.SMARTS version [e.g. 0.5.0]
Impact [If known] Heading can become desynchronized from orientation.