search

ros2 / geometry2

A set of ROS packages for keeping track of coordinate transforms.
BSD 3-Clause "New" or "Revised" License
110 stars 193 forks source link

Nacho/minor fixes tf2 cache #658

Closed nachovizzo closed 3 months ago

nachovizzo commented 3 months ago

Follow up on https://github.com/ros2/geometry2/pull/636

This PR does not introduce any real change, it's just a selective refactor on some parts of the tf2 cache I did back then. It's mainly replacing raw loops with algorithms that one can read and understand what's the code trying to do faster

This also means I didn't embark on a refactoring journey of the entire system. It's just affecting the line of code I was evaluating last year, but I didn't want to avoid contributing to this.

Of course, it would be ideal to refactor more "globally" let's call it but won't have time anytime soon to do this, I'm happy to follow up more reviewing of the implementation in future PRs but for now this is what I can do :)

I tried to be very verbose on a committed level just to make the reviewing process easier

fujitatomoya commented 3 months ago

@ahcorde is this ready to merge? can you confirm?