`Pose.heading` cache is not invalidated when changing orientation.

huawei-noah / SMARTS

Scalable Multi-Agent RL Training School for Autonomous Driving

MIT License

944 stars 190 forks source link

`Pose.heading` cache is not invalidated when changing orientation. #1247

Open Gamenot opened 2 years ago

Gamenot commented 2 years ago

BUG REPORT

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.

sah-huawei commented 2 years ago

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).