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Fix issue #749 #750

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Fix issue #749 #750

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1fb6d46
Fix issue #749
Sukhvansh2004 Jan 15, 2025
1f577b7
Fixed Warning
Sukhvansh2004 Jan 15, 2025
b39e3e8
Fixed WalkToParent along with ordering and pushing to vector
Sukhvansh2004 Jan 15, 2025
18159aa
Fixed Formatting
Sukhvansh2004 Jan 15, 2025
4f57ec7
Added Unit Tests
Sukhvansh2004 Feb 15, 2025
5b82c18
Merge branch 'ros2:humble' into humble
Sukhvansh2004 Feb 15, 2025
00c9c51
Fixed minor issue
Sukhvansh2004 Feb 16, 2025
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51 changes: 25 additions & 26 deletions tf2/src/buffer_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -479,14 +479,14 @@ tf2::TF2Error BufferCore::walkToTopParent(
}
// Erase all duplicate items from frame_chain
if (n > 0u) {
frame_chain->erase(frame_chain->begin() + (n - 1u), frame_chain->end());
frame_chain->erase(frame_chain->begin() + (n + 1u), frame_chain->end());
}

if (m < reverse_frame_chain.size()) {
size_t i = m + 1uL;
while (i > 0u) {
--i;
int i = m + 1;
while (i >= 0) {
frame_chain->push_back(reverse_frame_chain[i]);
--i;
}
}
}
Expand Down Expand Up @@ -1583,25 +1583,24 @@ void BufferCore::_chainAsVector(
}
}

if (source_time != target_time) {
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@tfoote tfoote Jan 27, 2025

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Removing this check is clearly wrong. You only traverse the tree a second time if the times are different.

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@Sukhvansh2004 Sukhvansh2004 Feb 15, 2025

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In the Noetic implementation ig this was'nt there as mentioned in the issue which is addressed by this PR

std::vector<CompactFrameID> target_frame_chain;
retval = walkToTopParent(
accum, target_time, target_id, fixed_id, &error_string,
&target_frame_chain);
std::vector<CompactFrameID> target_frame_chain;
retval = walkToTopParent(
accum, target_time, fixed_id, target_id, &error_string,
&target_frame_chain);

if (retval != tf2::TF2Error::TF2_NO_ERROR) {
switch (retval) {
case tf2::TF2Error::TF2_CONNECTIVITY_ERROR:
throw ConnectivityException(error_string);
case tf2::TF2Error::TF2_EXTRAPOLATION_ERROR:
throw ExtrapolationException(error_string);
case tf2::TF2Error::TF2_LOOKUP_ERROR:
throw LookupException(error_string);
default:
CONSOLE_BRIDGE_logError("Unknown error code: %d", retval);
assert(0);
}
if (retval != tf2::TF2Error::TF2_NO_ERROR) {
switch (retval) {
case tf2::TF2Error::TF2_CONNECTIVITY_ERROR:
throw ConnectivityException(error_string);
case tf2::TF2Error::TF2_EXTRAPOLATION_ERROR:
throw ExtrapolationException(error_string);
case tf2::TF2Error::TF2_LOOKUP_ERROR:
throw LookupException(error_string);
default:
CONSOLE_BRIDGE_logError("Unknown error code: %d", retval);
assert(0);
}

size_t m = target_frame_chain.size();
size_t n = source_frame_chain.size();
while (m > 0u && n > 0u) {
Expand All @@ -1613,13 +1612,13 @@ void BufferCore::_chainAsVector(
}
// Erase all duplicate items from frame_chain
if (n > 0u) {
source_frame_chain.erase(source_frame_chain.begin() + (n - 1u), source_frame_chain.end());
source_frame_chain.erase(source_frame_chain.begin() + (n + 1u), source_frame_chain.end());
}

if (m < target_frame_chain.size()) {
for (size_t i = 0u; i <= m; ++i) {
source_frame_chain.push_back(target_frame_chain[i]);
}
int i = m + 1;
while (i >= 0) {
source_frame_chain.push_back(target_frame_chain[i]);
--i;
}
}

Expand Down