From 2faa8ca0820a30991e83b90898447afd56de44e1 Mon Sep 17 00:00:00 2001
From: hsu <devnull@localhost>
Date: Tue, 9 Mar 2010 20:53:08 +0000
Subject: [PATCH] convert limits from radians to degrees

---
 collada_urdf/src/urdf_to_collada.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp
index 159fcf1..cc4633f 100644
--- a/collada_urdf/src/urdf_to_collada.cpp
+++ b/collada_urdf/src/urdf_to_collada.cpp
@@ -533,8 +533,8 @@ public:
                         // <limits>
                         domJoint_limitsRef limits = daeSafeCast<domJoint_limits>(revolute->createAndPlace(COLLADA_TYPE_LIMITS));
                         {
-                            daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower;
-                            daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper;
+                            daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower * (180.0 / M_PI);
+                            daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper * (180.0 / M_PI);
                         }
                         // </limits>
                     }