Replace usage of Isometry3<T> by RigidTransform<T> to simplify code
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- C++
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Description
Isometry has been deprecated in favor of RigidTransform because of familiar semantics with roboticists and enhanced checks in rotation matrices for robotic use cases.
After https://github.com/ToyotaResearchInstitute/drake-vendor/pull/14, and as part of https://github.com/ToyotaResearchInstitute/delphyne/pull/701/files code is a bit verbose because of keeping the Isometry3 in the interface. We should replace the Isometry3 by RigidTransform in places where it is consumed.
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reading the referenced drake-vendor PR #14 and delphyne PR #701 to understand the RigidTransform interface change. Locate the delphyne consumers that still expose or use Isometry3; the work is done when the relevant interfaces and their consumers use RigidTransform instead.
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Assessment
- Tech stack
- cpp
- Domain
- autonomous-driving
- Issue type
- Refactor
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 45/100