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Fix crash in the follow_actor example #958

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merged 9 commits into from
Aug 12, 2021
Merged

Fix crash in the follow_actor example #958

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fb5964f
Fix crash in the follow_actor example
luca-della-vedova Aug 6, 2021
a6c4e75
add test
iche033 Aug 6, 2021
26d8f7f
add test
iche033 Aug 6, 2021
0dd0970
Added new parameter documentation
luca-della-vedova Aug 10, 2021
f939015
Codecheck
luca-della-vedova Aug 10, 2021
5d83f64
Disable rendering test on Mac
luca-della-vedova Aug 12, 2021
4f1a726
Merge branch 'ign-gazebo4' into fix/follow_actor_crash
luca-della-vedova Aug 12, 2021
d6b4f43
Add missing header for test
luca-della-vedova Aug 12, 2021
0e24087
TEST_F -> TEST_P
luca-della-vedova Aug 12, 2021
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23 changes: 15 additions & 8 deletions src/rendering/RenderUtil.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -358,7 +358,9 @@ class ignition::gazebo::RenderUtilPrivate
/// data.
/// \sa actorManualSkeletonUpdate
public: void UpdateAnimation(const std::unordered_map<Entity,
AnimationUpdateData> &_actorAnimationData);
AnimationUpdateData> &_actorAnimationData,
const std::unordered_map<Entity, math::Pose3d> &_entityPoses,
const std::unordered_map<Entity, math::Pose3d> &_trajectoryPoses);
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};

//////////////////////////////////////////////////
Expand Down Expand Up @@ -804,7 +806,8 @@ void RenderUtil::Update()
}
else
{
this->dataPtr->UpdateAnimation(actorAnimationData);
this->dataPtr->UpdateAnimation(actorAnimationData, entityPoses,
trajectoryPoses);
}
}

Expand Down Expand Up @@ -2028,8 +2031,10 @@ void RenderUtilPrivate::UpdateThermalCamera(const std::unordered_map<Entity,
}

/////////////////////////////////////////////////
void RenderUtilPrivate::UpdateAnimation(
const std::unordered_map<Entity, AnimationUpdateData> &_actorAnimationData)
void RenderUtilPrivate::UpdateAnimation(const std::unordered_map<Entity,
AnimationUpdateData> &_actorAnimationData,
const std::unordered_map<Entity, math::Pose3d> &_entityPoses,
const std::unordered_map<Entity, math::Pose3d> &_trajectoryPoses)
{
for (auto &it : _actorAnimationData)
{
Expand Down Expand Up @@ -2098,16 +2103,18 @@ void RenderUtilPrivate::UpdateAnimation(

// update actor trajectory animation
math::Pose3d globalPose;
if (entityPoses.find(it.first) != entityPoses.end())
auto entityPosesIt = _entityPoses.find(it.first);
if (entityPosesIt != _entityPoses.end())
{
globalPose = entityPoses[it.first];
globalPose = entityPosesIt->second;
}

math::Pose3d trajPose;
// Trajectory from the ECS
if (trajectoryPoses.find(it.first) != trajectoryPoses.end())
auto trajectoryPosesIt = _trajectoryPoses.find(it.first);
if (trajectoryPosesIt != _trajectoryPoses.end())
{
trajPose = trajectoryPoses[it.first];
trajPose = trajectoryPosesIt->second;
}
else
{
Expand Down