From 5c315cbf048f82d5803ebaf4a40f9795e3db55ad Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Sat, 25 May 2024 18:55:15 -0600 Subject: [PATCH] AP_DDS: Use common quaternion initialization function Signed-off-by: Ryan Friedman --- libraries/AP_DDS/AP_DDS_Client.cpp | 25 ++++++++++++------------- 1 file changed, 12 insertions(+), 13 deletions(-) diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp index 9ae7e0149b..0166f2284a 100644 --- a/libraries/AP_DDS/AP_DDS_Client.cpp +++ b/libraries/AP_DDS/AP_DDS_Client.cpp @@ -83,6 +83,14 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] { AP_GROUPEND }; +static void initialize(geometry_msgs_msg_Quaternion& q) +{ + q.x = 0.0; + q.y = 0.0; + q.z = 0.0; + q.w = 1.0; +} + AP_DDS_Client::~AP_DDS_Client() { // close transport @@ -232,11 +240,8 @@ void AP_DDS_Client::populate_static_transforms(tf2_msgs_msg_TFMessage& msg) msg.transforms[i].transform.translation.y = -1 * offset[1]; msg.transforms[i].transform.translation.z = -1 * offset[2]; - // Ensure rotation is normalised - msg.transforms[i].transform.rotation.x = 0.0; - msg.transforms[i].transform.rotation.y = 0.0; - msg.transforms[i].transform.rotation.z = 0.0; - msg.transforms[i].transform.rotation.w = 1.0; + // Ensure rotation is initialized. + initialize(msg.transforms[i].transform.rotation); msg.transforms_size++; } @@ -350,10 +355,7 @@ void AP_DDS_Client::update_topic(geometry_msgs_msg_PoseStamped& msg) msg.pose.orientation.y = orientation[2]; msg.pose.orientation.z = orientation[3]; } else { - msg.pose.orientation.x = 0.0; - msg.pose.orientation.y = 0.0; - msg.pose.orientation.z = 0.0; - msg.pose.orientation.w = 1.0; + initialize(msg.pose.orientation); } } @@ -434,10 +436,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg) msg.pose.orientation.y = orientation[2]; msg.pose.orientation.z = orientation[3]; } else { - msg.pose.orientation.x = 0.0; - msg.pose.orientation.y = 0.0; - msg.pose.orientation.z = 0.0; - msg.pose.orientation.w = 1.0; + initialize(msg.pose.orientation); } }