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transform polygone: Do not clear poly_in before transforming points #697

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transform polygone: Do not clear poly_in before transforming points #697

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58d87df
do not clear poly_in before transforming points
Fellfalla Jun 19, 2024
9652a51
fix test
Fellfalla Jun 22, 2024
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9 changes: 4 additions & 5 deletions tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -463,12 +463,11 @@ void doTransform(
geometry_msgs::msg::Polygon & poly_out,
const geometry_msgs::msg::TransformStamped & transform)
{
poly_out.points.clear();
for (auto & point : poly_in.points) {
geometry_msgs::msg::Point32 point_transformed;
doTransform(point, point_transformed, transform);
poly_out.points.push_back(point_transformed);
std::vector<geometry_msgs::msg::Point32> points_transformed(poly_in.points.size(), {});
for (size_t i=0; i < poly_in.points.size(); ++i) {
doTransform(poly_in.points[i], points_transformed[i], transform);
}
poly_out.points = points_transformed;
}

/** \brief Trivial "conversion" function for Polygon message type.
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17 changes: 17 additions & 0 deletions tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -458,6 +458,23 @@ TEST(TfGeometry, Polygon)
EXPECT_NEAR(res.points[0].z, 27, EPS);
}

// non-stamped by reference
{
geometry_msgs::msg::Polygon res;
geometry_msgs::msg::Point32 p;
res.x = 1;
res.y = 2;
res.z = 3;
v1.points.push_back(p);

geometry_msgs::msg::TransformStamped t = generate_stamped_transform();

tf2::doTransform(res, res, t);
EXPECT_NEAR(res.points[0].x, 11, EPS);
EXPECT_NEAR(res.points[0].y, 18, EPS);
EXPECT_NEAR(res.points[0].z, 27, EPS);
}

// stamped
{
geometry_msgs::msg::PolygonStamped v1, res;
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