Box::GetCenter() returns wrong value

[osrf-migration]

Original report (archived issue) by Andrei Haidu (Bitbucket: ahaidu).

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Hi,

i noticed a bug in the BB code, namely at the Box::GetCenter()

#!c++

math::Vector3 Box::GetCenter() const
{
  Vector3 size = this->GetSize();
  size /= 2.0;
  return this->min + size;
}

because GetSize(); returns only positive values this will give false values for BB in the negative areas.

a correct version would be:

#!c++

math::Vector3 Box::GetCenter() const
{
  return  this->min + (this->max - this->min) / 2;
}

Cheers,
Andrei

UPDATE:

Created a pull request and also changed the Box_TEST to have an example with negative valued BB

[osrf-migration]

Original comment by Andrei Haidu (Bitbucket: ahaidu).

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• Edited issue description

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "new" to "resolved"

Resolved in pull request #1278

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "resolved" to "closed"