refactor(ndt_scan_matcher): remove Eigen::Affine3d #1903
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Signed-off-by: kminoda <koji.m.minoda@gmail.com>
Codecov ReportBase: 10.05% // Head: 10.02% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #1903 +/- ##
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- Coverage 10.05% 10.02% -0.04%
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Files 1256 1256
Lines 90472 90687 +215
Branches 20335 20335
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- Hits 9095 9089 -6
- Misses 72020 72239 +219
- Partials 9357 9359 +2
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Signed-off-by: kminoda <koji.minoda@tier4.jp>
Signed-off-by: kminoda <koji.minoda@tier4.jp>
| @@ -254,3 +247,28 @@ std::vector<geometry_msgs::msg::Pose> createRandomPoseArray( | |||
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| return poses; | |||
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| Eigen::Matrix4f fromRosPoseToEigenMatrix4f(const geometry_msgs::msg::Pose & ros_pose) | |||
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I think rosPoseToEigenMatrix4f can make sense
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Or just poseToMatrix4f is also sufficient because we can infer from argument/return types
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Signed-off-by: kminoda koji.m.minoda@gmail.com
Description
Removed Eigen::Affine3d from ndt_scan_matcher_core.cpp by creating a new util function in util_func.cpp.
Related links
A smaller version of #1757
Tests performed
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