[Rock-dev] [rock] #110: base/types unit test for rbs_validity fails

[rock]

#110: base/types unit test for rbs_validity fails
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 Reporter:  anonymous  |       Owner:  rock-dev-mailing-list
     Type:  defect     |      Status:  new
 Priority:  major      |   Milestone:  Rock Release
Component:  base       |  Resolution:
 Keywords:             |
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Comment (by sylvain.joyeux):

 Replying to [comment:2 saar01]:
 > The unit test fails, because the method invalidate() in
 rigid_body_state.h invalidates the internal states, but also sets them to
 zero or identity.

 The last change for invalidate() has been wrongly done. invalidate()
 should now set all its fields to NaN, including covariance.

 The idea (that should be documented in the class itself) is that, once you
 have called invalidate(), setting a field makes it automatically valid.
 Moreover, you can set a position with an infinite covariance, which is a
 valid position and a valid position covariance.

 > Maybe there should be an extra method like 'setIdentity()'.
 There should be a method like that, but with a different name. What is the
 speed of "identity" ?

-- 
Ticket URL: <http://rock.opendfki.de/ticket/110#comment:3>
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