Address PR feedback.

Signed-off-by: Arjo Chakravarty <[email protected]>
iradionov · Jan 25, 2023 · 303df10 · 303df10
1 parent 56b157a
commit 303df10
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Showing 4 changed files with 23 additions and 4 deletions.
diff --git a/include/gz/msgs/Utility.hh b/include/gz/msgs/Utility.hh
@@ -220,10 +220,10 @@ namespace gz
     msgs::SphericalCoordinates Convert(
         const math::SphericalCoordinates &_coord);
 
-    /// \brief Convert a msgs::SphericalCoordinatesType to an
-    /// gz::math::SphericalCoordinates::CoordinateTpye
+    /// \brief Convert a gz::math::SphericalCoordinates::CoordinateType
+    /// to a msgs::SphericalCoordinatesType
     /// \param[in] _coord The spherical coordinates to convert
-    /// \return A gz::math::SphericalCoordinatesType object
+    /// \return A gz::msgs::SphericalCoordinatesType object
     GZ_MSGS_VISIBLE
     msgs::SphericalCoordinatesType ConvertCoord(
       const math::SphericalCoordinates::CoordinateType &_coord);

diff --git a/proto/gz/msgs/data_load_options.proto b/proto/gz/msgs/data_load_options.proto
@@ -25,7 +25,7 @@ import "gz/msgs/spherical_coordinates.proto";
 /// \brief Used for specifying how to load environmental data
 message DataLoadPathOptions
 {
-    /// \brief
+    /// \brief Units used by spherical coordinates
     enum DataAngularUnits
     {
         RADIANS = 0;

diff --git a/src/Utility.cc b/src/Utility.cc
@@ -199,6 +199,10 @@ namespace gz
           return math::SphericalCoordinates::CoordinateType::LOCAL;
         case msgs::SphericalCoordinatesType::LOCAL2:
           return math::SphericalCoordinates::CoordinateType::LOCAL2;
+        default:
+          //default to local coords
+          std::cerr << "Invalid coordinate type passed. Defaulting to local.\n";
+          return math::SphericalCoordinates::CoordinateType::LOCAL;
       }
     }
 
@@ -384,6 +388,9 @@ namespace gz
           return  msgs::SphericalCoordinatesType::LOCAL;
         case math::SphericalCoordinates::CoordinateType::LOCAL2:
           return msgs::SphericalCoordinatesType::LOCAL2;
+        default:
+          std::cerr << "Invalid coordinate type passed. Defaulting to local.\n";
+          return msgs::SphericalCoordinatesType::LOCAL;
       }
     }
 

diff --git a/src/Utility_TEST.cc b/src/Utility_TEST.cc
@@ -419,6 +419,18 @@ TEST(MsgsTest, ConvertMathSphericalCoordinatedTypeToMsg)
   EXPECT_EQ(msgs::ConvertCoord(
       math::SphericalCoordinates::CoordinateType::ECEF),
     msgs::SphericalCoordinatesType::ECEF);
+  EXPECT_EQ(msgs::ConvertCoord(
+      math::SphericalCoordinates::CoordinateType::GLOBAL),
+    msgs::SphericalCoordinatesType::GLOBAL);
+  EXPECT_EQ(msgs::ConvertCoord(
+      math::SphericalCoordinates::CoordinateType::SPHERICAL),
+    msgs::SphericalCoordinatesType::SPHERICAL);
+  EXPECT_EQ(msgs::ConvertCoord(
+      math::SphericalCoordinates::CoordinateType::LOCAL),
+    msgs::SphericalCoordinatesType::LOCAL);
+  EXPECT_EQ(msgs::ConvertCoord(
+      math::SphericalCoordinates::CoordinateType::LOCAL2),
+    msgs::SphericalCoordinatesType::LOCAL2);
 }
 
 /////////////////////////////////////////////////