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kdl_parser
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fix, joint axis should be rotated depend on local coords

This commit is contained in:
YoheiKakiuchi 2014-02-04 23:49:12 +09:00
parent c7dba8169a
commit 1e3f1be30a
1 changed files with 12 additions and 3 deletions
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15
collada_parser/src/collada_parser.cpp
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@ -1022,9 +1022,18 @@ protected:
pjoint->child_link_name = pchildlink->name;
// Axes and Anchor assignment.
pjoint->axis.x = pdomaxis->getAxis()->getValue()[0];
pjoint->axis.y = pdomaxis->getAxis()->getValue()[1];
pjoint->axis.z = pdomaxis->getAxis()->getValue()[2];
{
Vector3 ax(pdomaxis->getAxis()->getValue()[0],
pdomaxis->getAxis()->getValue()[1],
pdomaxis->getAxis()->getValue()[2]);
// rotate axis
ax = tatt.rotation * ax;
pjoint->axis.x = ax.x;
pjoint->axis.y = ax.y;
pjoint->axis.z = ax.z;
}
if (!motion_axis_info) {
ROS_WARN_STREAM(str(boost::format("No motion axis info for joint %s\n")%pjoint->name));