From 6a14a433cd914f8d39b66f52bb8f7cbeeb9c2be6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Matou=C5=A1=20Vrba?= Date: Fri, 8 Nov 2024 13:02:32 +0100 Subject: [PATCH] [Transformer]: fixed UTMtoLL to fill out the correct frame --- src/transformer/transformer.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/transformer/transformer.cpp b/src/transformer/transformer.cpp index c37adf93..524b2b02 100644 --- a/src/transformer/transformer.cpp +++ b/src/transformer/transformer.cpp @@ -490,7 +490,7 @@ namespace mrs_lib return utm; } - geometry_msgs::PointStamped Transformer::LLtoUTM(const geometry_msgs::PointStamped& what, [[maybe_unused]] const std::string& prefix) + geometry_msgs::PointStamped Transformer::LLtoUTM(const geometry_msgs::PointStamped& what, const std::string& prefix) { geometry_msgs::PointStamped ret; ret.header.frame_id = prefix + "utm_origin"; @@ -534,14 +534,14 @@ namespace mrs_lib return latlon; } - std::optional Transformer::UTMtoLL(const geometry_msgs::PointStamped& what, [[maybe_unused]] const std::string& prefix) + std::optional Transformer::UTMtoLL(const geometry_msgs::PointStamped& what, const std::string& prefix) { const auto opt = UTMtoLL(what.point, prefix); if (!opt.has_value()) return std::nullopt; geometry_msgs::PointStamped ret; - ret.header.frame_id = prefix + "utm_origin"; + ret.header.frame_id = prefix + LATLON_ORIGIN; ret.header.stamp = what.header.stamp; ret.point = opt.value(); return ret; @@ -566,7 +566,7 @@ namespace mrs_lib return std::nullopt; geometry_msgs::PoseStamped ret; - ret.header.frame_id = prefix + "utm_origin"; + ret.header.frame_id = prefix + LATLON_ORIGIN; ret.header.stamp = what.header.stamp; ret.pose = opt.value(); return ret;