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TomaszTBTomaszTB
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Added filter to persistent detection frame & changed door node to use MutableReferenceFrame
1 parent 11e1a62 commit d258bdb

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24 files changed

+177
-96
lines changed

24 files changed

+177
-96
lines changed

‎ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/perception/sceneGraph/RDXDoorNode.java‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,6 @@
44
import com.badlogic.gdx.utils.Array;
55
import com.badlogic.gdx.utils.Pool;
66
import imgui.ImGui;
7-
import us.ihmc.euclid.transform.RigidBodyTransform;
87
import us.ihmc.perception.sceneGraph.SceneGraph;
98
import us.ihmc.perception.sceneGraph.modification.SceneGraphModificationQueue;
109
import us.ihmc.perception.sceneGraph.rigidBody.doors.DoorNode;
@@ -33,13 +32,15 @@ public RDXDoorNode(DoorNode doorNode, ImGuiUniqueLabelMap labels)
3332
super(doorNode);
3433
this.doorNode = doorNode;
3534
this.labels = labels;
35+
36+
doorFrameGraphic.setToReferenceFrame(doorNode.getDoorCornerFrame());
3637
}
3738

3839
@Override
3940
public void update(SceneGraph sceneGraph)
4041
{
4142
// Update frame graphic
42-
doorFrameGraphic.setPoseInWorldFrame(doorNode.getDoorFramePose());
43+
doorFrameGraphic.updateFromLastGivenFrame();
4344

4445
// Update door planar region graphic
4546
// We set a constant region ID just to get a consistent color in the planar region graphic
@@ -57,7 +58,7 @@ public void update(SceneGraph sceneGraph)
5758
openingMechanismGraphics.put(openingMechanism.getDetectionID(), graphic);
5859
}
5960

60-
openingMechanismGraphics.get(openingMechanism.getDetectionID()).update(new RigidBodyTransform(openingMechanism.getMechanismPose()));
61+
openingMechanismGraphics.get(openingMechanism.getDetectionID()).update(openingMechanism.getMechanismFrame().getTransformToWorldFrame());
6162
}
6263
}
6364

‎ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/graphics/ros2/RDXDetectionManagerSettings.java‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,6 @@
1313
*/
1414
public class RDXDetectionManagerSettings extends RDXVisualizer
1515
{
16-
1716
private final DetectionManagerSettings settings = new DetectionManagerSettings();
1817
private final ImGuiRemoteROS2StoredPropertySet remoteStoredPropertySet;
1918

‎ihmc-interfaces/src/main/generated-idl/perception_msgs/msg/DoorNodeMessage_.idl‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
#ifndef __perception_msgs__msg__DoorNodeMessage__idl__
22
#define __perception_msgs__msg__DoorNodeMessage__idl__
33

4-
#include "geometry_msgs/msg/./Pose_.idl"
4+
#include "geometry_msgs/msg/./Transform_.idl"
55
#include "perception_msgs/msg/./DetectableSceneNodeMessage_.idl"
66
#include "perception_msgs/msg/./DoorOpeningMechanismMessage_.idl"
77
#include "perception_msgs/msg/./DoorPanelMessage_.idl"
@@ -20,9 +20,9 @@ module perception_msgs
2020
*/
2121
perception_msgs::msg::dds::DetectableSceneNodeMessage detectable_scene_node;
2222
/**
23-
* The pose of the door frame (X points in the direction the door opens)
23+
* The transform of the frame of the door corner (X points in the direction the door opens)
2424
*/
25-
geometry_msgs::msg::dds::Pose door_frame_pose;
25+
geometry_msgs::msg::dds::Transform door_corner_transform_to_world;
2626
/**
2727
* Whether the pose of the door frame is locked
2828
*/

‎ihmc-interfaces/src/main/generated-idl/perception_msgs/msg/DoorOpeningMechanismMessage_.idl‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
#ifndef __perception_msgs__msg__DoorOpeningMechanismMessage__idl__
22
#define __perception_msgs__msg__DoorOpeningMechanismMessage__idl__
33

4-
#include "geometry_msgs/msg/./Pose_.idl"
4+
#include "geometry_msgs/msg/./Transform_.idl"
55
#include "ihmc_common_msgs/msg/./UUIDMessage_.idl"
66
module perception_msgs
77
{
@@ -24,9 +24,9 @@ module perception_msgs
2424
*/
2525
boolean door_side;
2626
/**
27-
* The grasp pose of the opening mechanism
27+
* The transform of the opening mechanisms frame
2828
*/
29-
geometry_msgs::msg::dds::Pose mechanism_pose;
29+
geometry_msgs::msg::dds::Transform mechanism_transform_to_world;
3030
/**
3131
* ID of the persistent detection associated with this opening mechanism. May be null.
3232
*/

‎ihmc-interfaces/src/main/generated-java/perception_msgs/msg/dds/DoorNodeMessage.java‎

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -13,9 +13,9 @@ public class DoorNodeMessage extends Packet<DoorNodeMessage> implements Settable
1313
*/
1414
public perception_msgs.msg.dds.DetectableSceneNodeMessage detectable_scene_node_;
1515
/**
16-
* The pose of the door frame (X points in the direction the door opens)
16+
* The transform of the frame of the door corner (X points in the direction the door opens)
1717
*/
18-
public us.ihmc.euclid.geometry.Pose3D door_frame_pose_;
18+
public us.ihmc.euclid.transform.QuaternionBasedTransform door_corner_transform_to_world_;
1919
/**
2020
* Whether the pose of the door frame is locked
2121
*/
@@ -32,7 +32,7 @@ public class DoorNodeMessage extends Packet<DoorNodeMessage> implements Settable
3232
public DoorNodeMessage()
3333
{
3434
detectable_scene_node_ = new perception_msgs.msg.dds.DetectableSceneNodeMessage();
35-
door_frame_pose_ = new us.ihmc.euclid.geometry.Pose3D();
35+
door_corner_transform_to_world_ = new us.ihmc.euclid.transform.QuaternionBasedTransform();
3636
door_panel_ = new perception_msgs.msg.dds.DoorPanelMessage();
3737
opening_mechanisms_ = new us.ihmc.idl.IDLSequence.Object<perception_msgs.msg.dds.DoorOpeningMechanismMessage> (100, new perception_msgs.msg.dds.DoorOpeningMechanismMessagePubSubType());
3838

@@ -47,7 +47,7 @@ public DoorNodeMessage(DoorNodeMessage other)
4747
public void set(DoorNodeMessage other)
4848
{
4949
perception_msgs.msg.dds.DetectableSceneNodeMessagePubSubType.staticCopy(other.detectable_scene_node_, detectable_scene_node_);
50-
geometry_msgs.msg.dds.PosePubSubType.staticCopy(other.door_frame_pose_, door_frame_pose_);
50+
geometry_msgs.msg.dds.TransformPubSubType.staticCopy(other.door_corner_transform_to_world_, door_corner_transform_to_world_);
5151
pose_locked_ = other.pose_locked_;
5252

5353
perception_msgs.msg.dds.DoorPanelMessagePubSubType.staticCopy(other.door_panel_, door_panel_);
@@ -65,11 +65,11 @@ public perception_msgs.msg.dds.DetectableSceneNodeMessage getDetectableSceneNode
6565

6666

6767
/**
68-
* The pose of the door frame (X points in the direction the door opens)
68+
* The transform of the frame of the door corner (X points in the direction the door opens)
6969
*/
70-
public us.ihmc.euclid.geometry.Pose3D getDoorFramePose()
70+
public us.ihmc.euclid.transform.QuaternionBasedTransform getDoorCornerTransformToWorld()
7171
{
72-
return door_frame_pose_;
72+
return door_corner_transform_to_world_;
7373
}
7474

7575
/**
@@ -124,7 +124,7 @@ public boolean epsilonEquals(DoorNodeMessage other, double epsilon)
124124
if(other == this) return true;
125125

126126
if (!this.detectable_scene_node_.epsilonEquals(other.detectable_scene_node_, epsilon)) return false;
127-
if (!this.door_frame_pose_.epsilonEquals(other.door_frame_pose_, epsilon)) return false;
127+
if (!this.door_corner_transform_to_world_.epsilonEquals(other.door_corner_transform_to_world_, epsilon)) return false;
128128
if (!us.ihmc.idl.IDLTools.epsilonEqualsBoolean(this.pose_locked_, other.pose_locked_, epsilon)) return false;
129129

130130
if (!this.door_panel_.epsilonEquals(other.door_panel_, epsilon)) return false;
@@ -149,7 +149,7 @@ public boolean equals(Object other)
149149
DoorNodeMessage otherMyClass = (DoorNodeMessage) other;
150150

151151
if (!this.detectable_scene_node_.equals(otherMyClass.detectable_scene_node_)) return false;
152-
if (!this.door_frame_pose_.equals(otherMyClass.door_frame_pose_)) return false;
152+
if (!this.door_corner_transform_to_world_.equals(otherMyClass.door_corner_transform_to_world_)) return false;
153153
if(this.pose_locked_ != otherMyClass.pose_locked_) return false;
154154

155155
if (!this.door_panel_.equals(otherMyClass.door_panel_)) return false;
@@ -166,8 +166,8 @@ public java.lang.String toString()
166166
builder.append("DoorNodeMessage {");
167167
builder.append("detectable_scene_node=");
168168
builder.append(this.detectable_scene_node_); builder.append(", ");
169-
builder.append("door_frame_pose=");
170-
builder.append(this.door_frame_pose_); builder.append(", ");
169+
builder.append("door_corner_transform_to_world=");
170+
builder.append(this.door_corner_transform_to_world_); builder.append(", ");
171171
builder.append("pose_locked=");
172172
builder.append(this.pose_locked_); builder.append(", ");
173173
builder.append("door_panel=");

‎ihmc-interfaces/src/main/generated-java/perception_msgs/msg/dds/DoorNodeMessagePubSubType.java‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -15,7 +15,7 @@ public class DoorNodeMessagePubSubType implements us.ihmc.pubsub.TopicDataType<p
1515
@Override
1616
public final java.lang.String getDefinitionChecksum()
1717
{
18-
return "abaf4863c0ca3a3e0d516417649c37ac3e9fc932d17958be3489fc9f933aff30";
18+
return "e1360a93d95b110afd48b50103141f38d480cafc5c5839a26f87e358c910c7ea";
1919
}
2020

2121
@Override
@@ -54,7 +54,7 @@ public static int getMaxCdrSerializedSize(int current_alignment)
5454

5555
current_alignment += perception_msgs.msg.dds.DetectableSceneNodeMessagePubSubType.getMaxCdrSerializedSize(current_alignment);
5656

57-
current_alignment += geometry_msgs.msg.dds.PosePubSubType.getMaxCdrSerializedSize(current_alignment);
57+
current_alignment += geometry_msgs.msg.dds.TransformPubSubType.getMaxCdrSerializedSize(current_alignment);
5858

5959
current_alignment += 1 + us.ihmc.idl.CDR.alignment(current_alignment, 1);
6060

@@ -78,7 +78,7 @@ public final static int getCdrSerializedSize(perception_msgs.msg.dds.DoorNodeMes
7878

7979
current_alignment += perception_msgs.msg.dds.DetectableSceneNodeMessagePubSubType.getCdrSerializedSize(data.getDetectableSceneNode(), current_alignment);
8080

81-
current_alignment += geometry_msgs.msg.dds.PosePubSubType.getCdrSerializedSize(data.getDoorFramePose(), current_alignment);
81+
current_alignment += geometry_msgs.msg.dds.TransformPubSubType.getCdrSerializedSize(data.getDoorCornerTransformToWorld(), current_alignment);
8282

8383
current_alignment += 1 + us.ihmc.idl.CDR.alignment(current_alignment, 1);
8484

@@ -97,7 +97,7 @@ public final static int getCdrSerializedSize(perception_msgs.msg.dds.DoorNodeMes
9797
public static void write(perception_msgs.msg.dds.DoorNodeMessage data, us.ihmc.idl.CDR cdr)
9898
{
9999
perception_msgs.msg.dds.DetectableSceneNodeMessagePubSubType.write(data.getDetectableSceneNode(), cdr);
100-
geometry_msgs.msg.dds.PosePubSubType.write(data.getDoorFramePose(), cdr);
100+
geometry_msgs.msg.dds.TransformPubSubType.write(data.getDoorCornerTransformToWorld(), cdr);
101101
cdr.write_type_7(data.getPoseLocked());
102102

103103
perception_msgs.msg.dds.DoorPanelMessagePubSubType.write(data.getDoorPanel(), cdr);
@@ -110,7 +110,7 @@ public static void write(perception_msgs.msg.dds.DoorNodeMessage data, us.ihmc.i
110110
public static void read(perception_msgs.msg.dds.DoorNodeMessage data, us.ihmc.idl.CDR cdr)
111111
{
112112
perception_msgs.msg.dds.DetectableSceneNodeMessagePubSubType.read(data.getDetectableSceneNode(), cdr);
113-
geometry_msgs.msg.dds.PosePubSubType.read(data.getDoorFramePose(), cdr);
113+
geometry_msgs.msg.dds.TransformPubSubType.read(data.getDoorCornerTransformToWorld(), cdr);
114114
data.setPoseLocked(cdr.read_type_7());
115115

116116
perception_msgs.msg.dds.DoorPanelMessagePubSubType.read(data.getDoorPanel(), cdr);
@@ -123,7 +123,7 @@ public final void serialize(perception_msgs.msg.dds.DoorNodeMessage data, us.ihm
123123
{
124124
ser.write_type_a("detectable_scene_node", new perception_msgs.msg.dds.DetectableSceneNodeMessagePubSubType(), data.getDetectableSceneNode());
125125

126-
ser.write_type_a("door_frame_pose", new geometry_msgs.msg.dds.PosePubSubType(), data.getDoorFramePose());
126+
ser.write_type_a("door_corner_transform_to_world", new geometry_msgs.msg.dds.TransformPubSubType(), data.getDoorCornerTransformToWorld());
127127

128128
ser.write_type_7("pose_locked", data.getPoseLocked());
129129
ser.write_type_a("door_panel", new perception_msgs.msg.dds.DoorPanelMessagePubSubType(), data.getDoorPanel());
@@ -136,7 +136,7 @@ public final void deserialize(us.ihmc.idl.InterchangeSerializer ser, perception_
136136
{
137137
ser.read_type_a("detectable_scene_node", new perception_msgs.msg.dds.DetectableSceneNodeMessagePubSubType(), data.getDetectableSceneNode());
138138

139-
ser.read_type_a("door_frame_pose", new geometry_msgs.msg.dds.PosePubSubType(), data.getDoorFramePose());
139+
ser.read_type_a("door_corner_transform_to_world", new geometry_msgs.msg.dds.TransformPubSubType(), data.getDoorCornerTransformToWorld());
140140

141141
data.setPoseLocked(ser.read_type_7("pose_locked"));
142142
ser.read_type_a("door_panel", new perception_msgs.msg.dds.DoorPanelMessagePubSubType(), data.getDoorPanel());

‎ihmc-interfaces/src/main/generated-java/perception_msgs/msg/dds/DoorOpeningMechanismMessage.java‎

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -19,17 +19,17 @@ public class DoorOpeningMechanismMessage extends Packet<DoorOpeningMechanismMess
1919
*/
2020
public boolean door_side_;
2121
/**
22-
* The grasp pose of the opening mechanism
22+
* The transform of the opening mechanisms frame
2323
*/
24-
public us.ihmc.euclid.geometry.Pose3D mechanism_pose_;
24+
public us.ihmc.euclid.transform.QuaternionBasedTransform mechanism_transform_to_world_;
2525
/**
2626
* ID of the persistent detection associated with this opening mechanism. May be null.
2727
*/
2828
public ihmc_common_msgs.msg.dds.UUIDMessage persistent_detection_id_;
2929

3030
public DoorOpeningMechanismMessage()
3131
{
32-
mechanism_pose_ = new us.ihmc.euclid.geometry.Pose3D();
32+
mechanism_transform_to_world_ = new us.ihmc.euclid.transform.QuaternionBasedTransform();
3333
persistent_detection_id_ = new ihmc_common_msgs.msg.dds.UUIDMessage();
3434
}
3535

@@ -45,7 +45,7 @@ public void set(DoorOpeningMechanismMessage other)
4545

4646
door_side_ = other.door_side_;
4747

48-
geometry_msgs.msg.dds.PosePubSubType.staticCopy(other.mechanism_pose_, mechanism_pose_);
48+
geometry_msgs.msg.dds.TransformPubSubType.staticCopy(other.mechanism_transform_to_world_, mechanism_transform_to_world_);
4949
ihmc_common_msgs.msg.dds.UUIDMessagePubSubType.staticCopy(other.persistent_detection_id_, persistent_detection_id_);
5050
}
5151

@@ -85,11 +85,11 @@ public boolean getDoorSide()
8585

8686

8787
/**
88-
* The grasp pose of the opening mechanism
88+
* The transform of the opening mechanisms frame
8989
*/
90-
public us.ihmc.euclid.geometry.Pose3D getMechanismPose()
90+
public us.ihmc.euclid.transform.QuaternionBasedTransform getMechanismTransformToWorld()
9191
{
92-
return mechanism_pose_;
92+
return mechanism_transform_to_world_;
9393
}
9494

9595

@@ -123,7 +123,7 @@ public boolean epsilonEquals(DoorOpeningMechanismMessage other, double epsilon)
123123

124124
if (!us.ihmc.idl.IDLTools.epsilonEqualsBoolean(this.door_side_, other.door_side_, epsilon)) return false;
125125

126-
if (!this.mechanism_pose_.epsilonEquals(other.mechanism_pose_, epsilon)) return false;
126+
if (!this.mechanism_transform_to_world_.epsilonEquals(other.mechanism_transform_to_world_, epsilon)) return false;
127127
if (!this.persistent_detection_id_.epsilonEquals(other.persistent_detection_id_, epsilon)) return false;
128128

129129
return true;
@@ -142,7 +142,7 @@ public boolean equals(Object other)
142142

143143
if(this.door_side_ != otherMyClass.door_side_) return false;
144144

145-
if (!this.mechanism_pose_.equals(otherMyClass.mechanism_pose_)) return false;
145+
if (!this.mechanism_transform_to_world_.equals(otherMyClass.mechanism_transform_to_world_)) return false;
146146
if (!this.persistent_detection_id_.equals(otherMyClass.persistent_detection_id_)) return false;
147147

148148
return true;
@@ -158,8 +158,8 @@ public java.lang.String toString()
158158
builder.append(this.type_); builder.append(", ");
159159
builder.append("door_side=");
160160
builder.append(this.door_side_); builder.append(", ");
161-
builder.append("mechanism_pose=");
162-
builder.append(this.mechanism_pose_); builder.append(", ");
161+
builder.append("mechanism_transform_to_world=");
162+
builder.append(this.mechanism_transform_to_world_); builder.append(", ");
163163
builder.append("persistent_detection_id=");
164164
builder.append(this.persistent_detection_id_);
165165
builder.append("}");

‎ihmc-interfaces/src/main/generated-java/perception_msgs/msg/dds/DoorOpeningMechanismMessagePubSubType.java‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -15,7 +15,7 @@ public class DoorOpeningMechanismMessagePubSubType implements us.ihmc.pubsub.Top
1515
@Override
1616
public final java.lang.String getDefinitionChecksum()
1717
{
18-
return "0ccb35e5a56649bb7741512be27d7946fec63c36a41069ab1e3e7b91e29a779b";
18+
return "a7f0a13c2a5f0ca20a5eecf2186689b103e57f719406306e6affeadb28b0abaa";
1919
}
2020

2121
@Override
@@ -56,7 +56,7 @@ public static int getMaxCdrSerializedSize(int current_alignment)
5656

5757
current_alignment += 1 + us.ihmc.idl.CDR.alignment(current_alignment, 1);
5858

59-
current_alignment += geometry_msgs.msg.dds.PosePubSubType.getMaxCdrSerializedSize(current_alignment);
59+
current_alignment += geometry_msgs.msg.dds.TransformPubSubType.getMaxCdrSerializedSize(current_alignment);
6060

6161
current_alignment += ihmc_common_msgs.msg.dds.UUIDMessagePubSubType.getMaxCdrSerializedSize(current_alignment);
6262

@@ -79,7 +79,7 @@ public final static int getCdrSerializedSize(perception_msgs.msg.dds.DoorOpening
7979
current_alignment += 1 + us.ihmc.idl.CDR.alignment(current_alignment, 1);
8080

8181

82-
current_alignment += geometry_msgs.msg.dds.PosePubSubType.getCdrSerializedSize(data.getMechanismPose(), current_alignment);
82+
current_alignment += geometry_msgs.msg.dds.TransformPubSubType.getCdrSerializedSize(data.getMechanismTransformToWorld(), current_alignment);
8383

8484
current_alignment += ihmc_common_msgs.msg.dds.UUIDMessagePubSubType.getCdrSerializedSize(data.getPersistentDetectionId(), current_alignment);
8585

@@ -93,7 +93,7 @@ public static void write(perception_msgs.msg.dds.DoorOpeningMechanismMessage dat
9393

9494
cdr.write_type_7(data.getDoorSide());
9595

96-
geometry_msgs.msg.dds.PosePubSubType.write(data.getMechanismPose(), cdr);
96+
geometry_msgs.msg.dds.TransformPubSubType.write(data.getMechanismTransformToWorld(), cdr);
9797
ihmc_common_msgs.msg.dds.UUIDMessagePubSubType.write(data.getPersistentDetectionId(), cdr);
9898
}
9999

@@ -103,7 +103,7 @@ public static void read(perception_msgs.msg.dds.DoorOpeningMechanismMessage data
103103

104104
data.setDoorSide(cdr.read_type_7());
105105

106-
geometry_msgs.msg.dds.PosePubSubType.read(data.getMechanismPose(), cdr);
106+
geometry_msgs.msg.dds.TransformPubSubType.read(data.getMechanismTransformToWorld(), cdr);
107107
ihmc_common_msgs.msg.dds.UUIDMessagePubSubType.read(data.getPersistentDetectionId(), cdr);
108108

109109
}
@@ -113,7 +113,7 @@ public final void serialize(perception_msgs.msg.dds.DoorOpeningMechanismMessage
113113
{
114114
ser.write_type_9("type", data.getType());
115115
ser.write_type_7("door_side", data.getDoorSide());
116-
ser.write_type_a("mechanism_pose", new geometry_msgs.msg.dds.PosePubSubType(), data.getMechanismPose());
116+
ser.write_type_a("mechanism_transform_to_world", new geometry_msgs.msg.dds.TransformPubSubType(), data.getMechanismTransformToWorld());
117117

118118
ser.write_type_a("persistent_detection_id", new ihmc_common_msgs.msg.dds.UUIDMessagePubSubType(), data.getPersistentDetectionId());
119119

@@ -124,7 +124,7 @@ public final void deserialize(us.ihmc.idl.InterchangeSerializer ser, perception_
124124
{
125125
data.setType(ser.read_type_9("type"));
126126
data.setDoorSide(ser.read_type_7("door_side"));
127-
ser.read_type_a("mechanism_pose", new geometry_msgs.msg.dds.PosePubSubType(), data.getMechanismPose());
127+
ser.read_type_a("mechanism_transform_to_world", new geometry_msgs.msg.dds.TransformPubSubType(), data.getMechanismTransformToWorld());
128128

129129
ser.read_type_a("persistent_detection_id", new ihmc_common_msgs.msg.dds.UUIDMessagePubSubType(), data.getPersistentDetectionId());
130130

‎ihmc-interfaces/src/main/generated-java/perception_msgs/msg/dds/SceneGraphMessagePubSubType.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -15,7 +15,7 @@ public class SceneGraphMessagePubSubType implements us.ihmc.pubsub.TopicDataType
1515
@Override
1616
public final java.lang.String getDefinitionChecksum()
1717
{
18-
return "f58ca9ff0de44f7c464290d5c64b4b3b43908de14c7f3e3558f4de6d295b8dd6";
18+
return "b60dc0a79b15a15d2e9f3c265082ee070b7b76b87669267eb91fcebdc9789039";
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}
2020

2121
@Override

‎ihmc-interfaces/src/main/messages/ihmc_interfaces/perception_msgs/msg/DoorNodeMessage.msg‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,8 @@
11
# The base scene node information
22
perception_msgs/DetectableSceneNodeMessage detectable_scene_node
33

4-
# The pose of the door frame (X points in the direction the door opens)
5-
geometry_msgs/Pose door_frame_pose
4+
# The transform of the frame of the door corner (X points in the direction the door opens)
5+
geometry_msgs/Transform door_corner_transform_to_world
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# Whether the pose of the door frame is locked
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bool pose_locked
88

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