[Personalrobots-commit] SF.net SVN: personalrobots:[21120] pkg/trunk/stacks

[<jfa...@us...>]

Revision: 21120
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21120&view=rev
Author:   jfaustwg
Date:     2009-08-08 03:13:52 +0000 (Sat, 08 Aug 2009)

Log Message:
-----------
QuaternionStamped::quaternion -> QuaternionStamped::data (#2278)

Modified Paths:
--------------
    pkg/trunk/stacks/common_msgs/geometry_msgs/msg/QuaternionStamped.msg
    pkg/trunk/stacks/geometry/tf/include/tf/transform_datatypes.h
    pkg/trunk/stacks/geometry/tf/src/tf/listener.py
    pkg/trunk/stacks/geometry/tf/test/test_datatype_conversion.py

Modified: pkg/trunk/stacks/common_msgs/geometry_msgs/msg/QuaternionStamped.msg
===================================================================
--- pkg/trunk/stacks/common_msgs/geometry_msgs/msg/QuaternionStamped.msg	2009-08-08 03:11:05 UTC (rev 21119)
+++ pkg/trunk/stacks/common_msgs/geometry_msgs/msg/QuaternionStamped.msg	2009-08-08 03:13:52 UTC (rev 21120)
@@ -1,2 +1,2 @@
 Header header
-Quaternion quaternion
+Quaternion data

Modified: pkg/trunk/stacks/geometry/tf/include/tf/transform_datatypes.h
===================================================================
--- pkg/trunk/stacks/geometry/tf/include/tf/transform_datatypes.h	2009-08-08 03:11:05 UTC (rev 21119)
+++ pkg/trunk/stacks/geometry/tf/include/tf/transform_datatypes.h	2009-08-08 03:13:52 UTC (rev 21120)
@@ -135,10 +135,10 @@
 
 /** \brief convert QuaternionStamped msg to Stamped<Quaternion> */
 static inline void quaternionStampedMsgToTF(const geometry_msgs::QuaternionStamped & msg, Stamped<Quaternion>& bt)
-{quaternionMsgToTF(msg.quaternion, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
+{quaternionMsgToTF(msg.data, bt); bt.stamp_ = msg.header.stamp; bt.frame_id_ = msg.header.frame_id;};
 /** \brief convert Stamped<Quaternion> to QuaternionStamped msg*/
 static inline void quaternionStampedTFToMsg(const Stamped<Quaternion>& bt, geometry_msgs::QuaternionStamped & msg)
-{quaternionTFToMsg(bt, msg.quaternion); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
+{quaternionTFToMsg(bt, msg.data); msg.header.stamp = bt.stamp_; msg.header.frame_id = bt.frame_id_;};
 
 /** \brief convert Vector3 msg to Vector3 */
 static inline void vector3MsgToTF(const geometry_msgs::Vector3& msg_v, Vector3& bt_v) {bt_v = Vector3(msg_v.x, msg_v.y, msg_v.z);};

Modified: pkg/trunk/stacks/geometry/tf/src/tf/listener.py
===================================================================
--- pkg/trunk/stacks/geometry/tf/src/tf/listener.py	2009-08-08 03:11:05 UTC (rev 21119)
+++ pkg/trunk/stacks/geometry/tf/src/tf/listener.py	2009-08-08 03:13:52 UTC (rev 21120)
@@ -104,7 +104,7 @@
         r = geometry_msgs.msg.QuaternionStamped()
         r.header.stamp = ps.header.stamp
         r.header.frame_id = target_frame
-        r.quaternion = geometry_msgs.msg.Quaternion(*quat)
+        r.data = geometry_msgs.msg.Quaternion(*quat)
         return r
 
     ## Transforms a robot_msgs PoseStamped message to frame target_frame, returns the resulting PoseStamped.

Modified: pkg/trunk/stacks/geometry/tf/test/test_datatype_conversion.py
===================================================================
--- pkg/trunk/stacks/geometry/tf/test/test_datatype_conversion.py	2009-08-08 03:11:05 UTC (rev 21119)
+++ pkg/trunk/stacks/geometry/tf/test/test_datatype_conversion.py	2009-08-08 03:13:52 UTC (rev 21120)
@@ -59,18 +59,18 @@
 
         ## Setup the quaternion tests
         self.tfquaternion_stamped = tf.QuaternionStamped()
-        self.tfquaternion_stamped.quaternion.x = 0
-        self.tfquaternion_stamped.quaternion.y = 0
-        self.tfquaternion_stamped.quaternion.z = 0
-        self.tfquaternion_stamped.quaternion.w = 1
+        self.tfquaternion_stamped.data.x = 0
+        self.tfquaternion_stamped.data.y = 0
+        self.tfquaternion_stamped.data.z = 0
+        self.tfquaternion_stamped.data.w = 1
         self.tfquaternion_stamped.frame_id = "frame1"
         self.tfquaternion_stamped.stamp = roslib.rostime.Time(10, 0)
 
         self.msgquaternion_stamped = robot_msgs.msg.QuaternionStamped()
-        self.msgquaternion_stamped.quaternion.x = 0
-        self.msgquaternion_stamped.quaternion.y = 0
-        self.msgquaternion_stamped.quaternion.z = 0
-        self.msgquaternion_stamped.quaternion.w = 1
+        self.msgquaternion_stamped.data.x = 0
+        self.msgquaternion_stamped.data.y = 0
+        self.msgquaternion_stamped.data.z = 0
+        self.msgquaternion_stamped.data.w = 1
         self.msgquaternion_stamped.header.frame_id = "frame1"
         self.msgquaternion_stamped.header.stamp = roslib.rostime.Time(10,0)
         
@@ -159,9 +159,9 @@
         self.assertEquals(tf.quaternion_stamped_msg_to_bt(self.msgquaternion_stamped), tf.quaternion_stamped_msg_to_bt(self.msgquaternion_stamped), "quaternion bt test correctness after conversion")
 
     def test_to_msg_quaternion(self):
-        self.assertEquals(tf.quaternion_bt_to_msg(self.tfquaternion_stamped.quaternion), self.msgquaternion_stamped.quaternion, "quaternion tf to msg incorrect")
+        self.assertEquals(tf.quaternion_bt_to_msg(self.tfquaternion_stamped.data), self.msgquaternion_stamped.data, "quaternion tf to msg incorrect")
     def test_to_tf_quaternion(self):
-        self.assertEquals(tf.quaternion_msg_to_bt(self.msgquaternion_stamped.quaternion), self.tfquaternion_stamped.quaternion, "quaternion stamped msg to tf incorrect")
+        self.assertEquals(tf.quaternion_msg_to_bt(self.msgquaternion_stamped.data), self.tfquaternion_stamped.data, "quaternion stamped msg to tf incorrect")
 
     def test_stamped_to_msg_quaternion(self):
         self.assertEquals(tf.quaternion_stamped_bt_to_msg(self.tfquaternion_stamped), self.msgquaternion_stamped, "quaternion stamped tf to msg incorrect")


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