From c244add878effe065a331007ffbd560df88a5572 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Fri, 19 Apr 2024 19:48:16 +0200 Subject: [PATCH 1/4] Fix usage of (new explicit) TPoint3D constructors --- modules/simulator/src/CollisionShapeCache.cpp | 10 ++++++---- modules/simulator/src/World_walls.cpp | 3 ++- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/modules/simulator/src/CollisionShapeCache.cpp b/modules/simulator/src/CollisionShapeCache.cpp index 849f6cf7..32d8124a 100644 --- a/modules/simulator/src/CollisionShapeCache.cpp +++ b/modules/simulator/src/CollisionShapeCache.cpp @@ -207,14 +207,16 @@ Shape2p5 CollisionShapeCache::processGenericGeometry( mrpt::math::TPoint2Df(coarseBB.min.x, coarseBB.min.y), mrpt::math::TPoint2Df(coarseBB.max.x, coarseBB.max.y)); - auto lambdaUpdatePt = [&](const mrpt::math::TPoint3Df& orgPt) { + auto lambdaUpdatePt = [&](const mrpt::math::TPoint3Df& orgPt) + { numTotalPts++; auto pt = modelPose.composePoint(orgPt * modelScale); if (pt.z < zMin || pt.z > zMax) return; // skip ret.buildAddPoint(pt); numPassedPts++; }; - auto lambdaUpdateTri = [&](const mrpt::opengl::TTriangle& tri) { + auto lambdaUpdateTri = [&](const mrpt::opengl::TTriangle& tri) + { numTotalPts += 3; // transform the whole triangle, then compare with [z,z] limits: mrpt::opengl::TTriangle t = tri; @@ -324,8 +326,8 @@ Shape2p5 CollisionShapeCache::processCylinderLike( for (size_t i = 0; i < nFaces; i++) { const double ang = i * 2 * M_PI / nFaces; - const mrpt::math::TPoint2D localPt = { - cos(ang) * actualRadius, sin(ang) * actualRadius}; + const mrpt::math::TPoint3D localPt = { + cos(ang) * actualRadius, sin(ang) * actualRadius, .0}; const auto pt = modelPose.composePoint(localPt * modelScale); contour.emplace_back(pt.x, pt.y); } diff --git a/modules/simulator/src/World_walls.cpp b/modules/simulator/src/World_walls.cpp index c5cd9816..7b0a1e0d 100644 --- a/modules/simulator/src/World_walls.cpp +++ b/modules/simulator/src/World_walls.cpp @@ -177,7 +177,8 @@ void World::process_load_walls(const rapidxml::xml_node& node) // Transform them: tfPts.reserve(segments.size()); - for (const auto& pt : segments) tfPts.emplace_back(tf.composePoint(pt)); + for (const auto& pt : segments) + tfPts.emplace_back(tf.composePoint(mrpt::math::TPoint3D(pt))); } else { From 85efb91e6fe5f8058a225870bd54ae6b1567a77c Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Wed, 24 Apr 2024 23:12:51 +0200 Subject: [PATCH 2/4] changelog --- CHANGELOG.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index f59c25b1..e4b672c5 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package mvsim ^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix usage of (new explicit) TPoint3D constructors +* Contributors: Jose Luis Blanco-Claraco + 0.9.2 (2024-03-21) ------------------ * BUG FIX: 3D lidars should not 'see' XYZ corners of wheels From 593a867ba3d43404b02adb20a1215a51a07e5a2b Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Wed, 24 Apr 2024 23:13:06 +0200 Subject: [PATCH 3/4] 0.9.3 --- CHANGELOG.rst | 4 ++-- package.xml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index e4b672c5..ead8cdd5 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package mvsim ^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.9.3 (2024-04-24) +------------------ * Fix usage of (new explicit) TPoint3D constructors * Contributors: Jose Luis Blanco-Claraco diff --git a/package.xml b/package.xml index 1c51c463..4e6b7008 100644 --- a/package.xml +++ b/package.xml @@ -5,7 +5,7 @@ A lightweight multivehicle simulation framework. - 0.9.2 + 0.9.3 Jose-Luis Blanco-Claraco BSD From 52b0935e08e023e8201c02b01383ac1689e4cebf Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Wed, 24 Apr 2024 23:13:31 +0200 Subject: [PATCH 4/4] update version.h --- modules/simulator/include/mvsim/mvsim_version.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/simulator/include/mvsim/mvsim_version.h b/modules/simulator/include/mvsim/mvsim_version.h index 1fd0fc43..48840327 100644 --- a/modules/simulator/include/mvsim/mvsim_version.h +++ b/modules/simulator/include/mvsim/mvsim_version.h @@ -12,7 +12,7 @@ // clang-format off #define MVSIM_MAJOR_VERSION 0 #define MVSIM_MINOR_VERSION 9 -#define MVSIM_PATCH_VERSION 2 +#define MVSIM_PATCH_VERSION 3 #define MVSIM_STR_EXP(__A) #__A #define MVSIM_STR(__A) MVSIM_STR_EXP(__A)