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kdl_parser
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convert limits from radians to degrees

This commit is contained in:
hsu 2010-03-09 20:53:08 +00:00
parent f410728fe1
commit 2faa8ca082
1 changed files with 2 additions and 2 deletions
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4
collada_urdf/src/urdf_to_collada.cpp
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@ -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>
}