Fixed invalid TF check (#66)

fixposition-support · fgarciacardenas · web-flow · commit 407fbc8bf9b8 · 2024-08-28T17:11:56.000+02:00
* Fixed invalid TF check

* Improved syntaxis

---------

Co-authored-by: Facundo Garcia &lt;facundo.garcia@fixposition.com&gt;
diff --git a/fixposition_driver_lib/src/messages/fpa/tf.cpp b/fixposition_driver_lib/src/messages/fpa/tf.cpp
@@ -68,7 +68,7 @@ void FP_TF::ConvertFromTokens(const std::vector<std::string>& tokens) {
                                  tokens.at(orientation_y_idx), tokens.at(orientation_z_idx));
 
     // Check if TF is valid
-    if (!tf.rotation.vec().isZero() && !(tf.rotation.w() == 0)) valid_tf = true;
+    valid_tf = !(tf.rotation.w() == 0 && tf.rotation.vec().isZero());
 }
 
 }  // namespace fixposition

Original file line number	Diff line number	Diff line change
`@@ -68,7 +68,7 @@ void FP_TF::ConvertFromTokens(const std::vector<std::string>& tokens) {`
`68`	`68`	`tokens.at(orientation_y_idx), tokens.at(orientation_z_idx));`
`69`	`69`
`70`	`70`	`// Check if TF is valid`
`71`		`- if (!tf.rotation.vec().isZero() && !(tf.rotation.w() == 0)) valid_tf = true;`
	`71`	`+ valid_tf = !(tf.rotation.w() == 0 && tf.rotation.vec().isZero());`
`72`	`72`	`}`
`73`	`73`
`74`	`74`	`} // namespace fixposition`