Use pose multiplication instead of subtraction

Part of gz-math#60. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
gazebosim · Jun 6, 2022 · dbf2b03 · dbf2b03
1 parent 7f89b11
commit dbf2b03
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/include/gz/rendering/base/BaseNode.hh b/include/gz/rendering/base/BaseNode.hh
@@ -504,7 +504,7 @@ namespace gz
         return _pose;
       }
 
-      return _pose - parent->WorldPose();
+      return parent->WorldPose().Inverse() * _pose;
     }
 
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