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Normalize quaternions from msgs before Ogre use #1179

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merged 12 commits into from
Jan 5, 2018
Merged

Normalize quaternions from msgs before Ogre use #1179

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42a4416
Revert "Added checks for invalid quaternions. (#1167)"
rhaschke Jan 3, 2018
3dc2e74
normalize invalid quaternions instead of rejecting them
rhaschke Jan 3, 2018
76e3a52
addressed Dave's comments
rhaschke Jan 3, 2018
99d4096
add more verbose warnings
rhaschke Jan 3, 2018
5ef2fa4
Revert "Revert "Added checks for invalid quaternions. (#1167)""
dhood Jan 4, 2018
332d24d
Merge branch 'kinetic-devel' into pr/1179
dhood Jan 4, 2018
52ddd20
Minimise diff
dhood Jan 4, 2018
f16fefb
Warning will already be output for invalid quats when msg validated
dhood Jan 4, 2018
4eb197e
Return pre-normalised length from normalizeQuat
dhood Jan 4, 2018
f5c7bab
Use validateQuaternions for map
dhood Jan 4, 2018
df6dfd4
Remove unnecessary 0 setting
dhood Jan 4, 2018
498c185
Reduce number of divisions
dhood Jan 5, 2018
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18 changes: 10 additions & 8 deletions src/rviz/validate_quaternions.h
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Expand Up @@ -71,10 +71,11 @@ inline float normalizeQuaternion( float& w, float& x, float& y, float& z )
}
float norm2 = quaternionNorm2( w, x, y, z );
norm2 = std::sqrt( norm2 );
w /= norm2;
x /= norm2;
y /= norm2;
z /= norm2;
float invnorm = 1.0f / norm2;
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What's the benefit of this? Multiplication and division have identical costs on the CPU, haven't they?

w *= invnorm;
x *= invnorm;
y *= invnorm;
z *= invnorm;
return norm2;
}

Expand Down Expand Up @@ -107,10 +108,11 @@ inline double normalizeQuaternion( double& w, double& x, double& y, double& z )
}
double norm2 = quaternionNorm2( w, x, y, z );
norm2 = std::sqrt( norm2 );
w /= norm2;
x /= norm2;
y /= norm2;
z /= norm2;
double invnorm = 1.0 / norm2;
w *= invnorm;
x *= invnorm;
y *= invnorm;
z *= invnorm;
return norm2;
}

Expand Down