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moveit / moveit_core

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Possible bug in transformVector3 #235

Closed dornhege closed 9 years ago

dornhege commented 9 years ago

Hi, I just stumbled upon this, so if this is actually correct please disregard it.

void transformVector3(const std::string &from_frame, const Eigen::Vector3d &v_in, Eigen::Vector3d &v_out) const
{
    v_out = getTransform(from_frame).rotation() * v_in;
}

The code only takes the rotation part. I believe it should use the complete transform to transform a Vector3.

sachinchitta commented 9 years ago

transformVector3 seems to assume that v_in and v_out are "free" vectors, not points. This should be in the documentation though - it looks like its not used anywhere else within moveit_core or moveit_ros.

dornhege commented 9 years ago

OK, makes sense. In that case I'd just leave this open as a "documentation bug".

davetcoleman commented 9 years ago

Why not just improve the documentation? https://github.com/ros-planning/moveit_core/pull/236