construct kdl object directly from quaternion

2010-07-13 00:23:37 +00:00 · 2010-07-13 00:23:37 +00:00 · 3438a44a14
parent 89be14e58b
commit 3438a44a14
1 changed files with 1 additions and 3 deletions
--- a/kdl_parser/src/kdl_parser.cpp
+++ b/kdl_parser/src/kdl_parser.cpp
@ -53,9 +53,7 @@ Vector toKdl(urdf::Vector3 v)
 // construct rotation
 Rotation toKdl(urdf::Rotation r)
 {
-  double roll, pitch, yaw;
-  r.getRPY(roll, pitch, yaw);
-  return Rotation::RPY(roll, pitch, yaw);
+  return Rotation::Quaternion(r.x, r.y, r.z, r.w);
 }

 // construct pose