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ihmcrobotics / euclid

Vector math, geometry, reference frame, and shapes 2D & 3D
Apache License 2.0
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ReferenceFrame.getTransformToParent(RigidBodyTransform transformToPack) does not work correctly for frames with unchanging transforms #12

Closed jespersmith closed 6 years ago

jespersmith commented 6 years ago

ReferenceFrame.getTransformToParent() returns a copy of transformToParent, while ReferenceFrame.getTransformToParent(RigidBodyTransform transformToPack) calls updateTransformToParent(transformToPack)

ReferenceFrames with unchanging transform to parent have an empty updateTransformToParent and set transformToParent in the constructor. Hence the result does not match ReferenceFrame.getTransformToParent()

SylvainBertrand commented 6 years ago

Alright should be fix in Euclid v0.7.9.2

SylvainBertrand commented 6 years ago

I'm closing this issue as it has been fixed.