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Adds time interpolation to the Science Sensors#210
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This PR moves all the logic for lookup in the science sensor to a separate function `ScienceSensorsSystemPrivate::InterpolateInTime()`. It also adds time based interpolation to the science sensor. Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
hidmic
reviewed
May 19, 2022
| sphericalDepthCorrected, simTimeSeconds, this->dataPtr->eastCurrentArr); | ||
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| ignition::math::Vector3d current(nCurr, eCurr, 0); |
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@arjo129 meta: there's a subtle change in behavior here, now nCurr or eCurr could be NaN even if the other isn't.
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| fixture->Server()->Run(true, 1000, false); |
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@arjo129 meta: there are a number of tools in lrauv_system_tests to reduce duplication, prevent races, reduce total run time, and improve readability across tests. I'd be inclined to use them if time allows. test_spawn.cc is one good example.
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
hidmic
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May 30, 2022
hidmic
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Jun 8, 2022
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LGTM -- pending comments are not blockers.
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
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As said above. There are several major changes in this PR.
ScienceSensorsSystemPrivate::InterpolateInTime().