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kdl_parser
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construct kdl object directly from quaternion

This commit is contained in:
wim 2010-07-13 00:23:37 +00:00
parent 89be14e58b
commit 3438a44a14
1 changed files with 1 additions and 3 deletions
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4
kdl_parser/src/kdl_parser.cpp
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@ -53,9 +53,7 @@ Vector toKdl(urdf::Vector3 v)
// construct rotation // construct rotation
Rotation toKdl(urdf::Rotation r) Rotation toKdl(urdf::Rotation r)
{ {
double roll, pitch, yaw; return Rotation::Quaternion(r.x, r.y, r.z, r.w);
r.getRPY(roll, pitch, yaw);
return Rotation::RPY(roll, pitch, yaw);
} }
// construct pose // construct pose