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kdl_parser
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Merge pull request #51 from YoheiKakiuchi/hydro-devel-fix-velocity-limit 

velocity limit is overwritten (hydro)
This commit is contained in:
Ioan A Sucan 2014-01-18 09:15:42 -08:00
parent c0cc25668f 887134d408
commit 0be9d41d59
1 changed files with 5 additions and 1 deletions
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6
collada_parser/src/collada_parser.cpp
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@ -951,6 +951,8 @@ protected:
boost::shared_ptr<Joint> pjoint(new Joint()); boost::shared_ptr<Joint> pjoint(new Joint());
pjoint->limits.reset(new JointLimits()); pjoint->limits.reset(new JointLimits());
pjoint->limits->velocity = 0.0;
pjoint->limits->effort = 0.0;
pjoint->parent_link_name = plink->name; pjoint->parent_link_name = plink->name;
if( !!pdomjoint->getName() ) { if( !!pdomjoint->getName() ) {
@ -1096,7 +1098,9 @@ protected:
//ROS_INFO("joint %s axis: %f %f %f",pjoint->name.c_str(),pjoint->axis.x,pjoint->axis.y,pjoint->axis.z); //ROS_INFO("joint %s axis: %f %f %f",pjoint->name.c_str(),pjoint->axis.x,pjoint->axis.y,pjoint->axis.z);
pjoint->parent_to_joint_origin_transform = _poseMult(tatt,_poseFromMatrix(_ExtractFullTransform(pattfull->getLink()))); pjoint->parent_to_joint_origin_transform = _poseMult(tatt,_poseFromMatrix(_ExtractFullTransform(pattfull->getLink())));
pjoint->limits->velocity = pjoint->type == Joint::PRISMATIC ? 0.01 : 0.5f; if (pjoint->limits->velocity == 0.0) {
pjoint->limits->velocity = pjoint->type == Joint::PRISMATIC ? 0.01 : 0.5f;
}
pchildlink.reset(); pchildlink.reset();
++numjoints; ++numjoints;
} }