From 5edbffed8f3a9a9b76c78cf411126449fdf24852 Mon Sep 17 00:00:00 2001 From: Jiahao Chen Date: Tue, 3 Nov 2020 21:26:32 +0800 Subject: [PATCH] Perception: completely fix Eigen slerp function --- .../onboard/transform_wrapper/transform_wrapper.cc | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/modules/perception/onboard/transform_wrapper/transform_wrapper.cc b/modules/perception/onboard/transform_wrapper/transform_wrapper.cc index 5acd9723f78..dd11cd2e4a5 100644 --- a/modules/perception/onboard/transform_wrapper/transform_wrapper.cc +++ b/modules/perception/onboard/transform_wrapper/transform_wrapper.cc @@ -83,7 +83,10 @@ Eigen::Quaterniond Slerp(const Eigen::Quaterniond& source, const double& t, } if (d < 0) scale1 = -scale1; - return Eigen::Quaterniond(scale0 * source.coeffs() + scale1 * other.coeffs()); + return Eigen::Quaterniond(scale0 * source.w() + scale1 * other.w(), + scale0 * source.x() + scale1 * other.x(), + scale0 * source.y() + scale1 * other.y(), + scale0 * source.z() + scale1 * other.z()); } bool TransformCache::QueryTransform(double timestamp,