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kdl_parser
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fix for rising and falling fields in calibration element

This commit is contained in:
wim 2010-01-07 22:23:43 +00:00
parent 16eae8784c
commit 3cb8a7a40f
2 changed files with 6 additions and 5 deletions
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3
urdf/include/urdf/joint.h
View File

@ -140,7 +140,8 @@ class JointCalibration
{ {
public: public:
JointCalibration() { this->clear(); }; JointCalibration() { this->clear(); };
double reference_position, rising, falling; double reference_position;
boost::shared_ptr<double> rising, falling;
void clear() void clear()
{ {

8
urdf/src/joint.cpp
View File

@ -180,20 +180,20 @@ bool JointCalibration::initXml(TiXmlElement* config)
if (rising_position_str == NULL) if (rising_position_str == NULL)
{ {
ROS_DEBUG("joint calibration: no rising, using default value"); ROS_DEBUG("joint calibration: no rising, using default value");
this->rising = 0; this->rising.reset();
} }
else else
this->rising = atof(rising_position_str); this->rising.reset(new double(atof(rising_position_str)));
// Get falling edge position // Get falling edge position
const char* falling_position_str = config->Attribute("falling"); const char* falling_position_str = config->Attribute("falling");
if (falling_position_str == NULL) if (falling_position_str == NULL)
{ {
ROS_DEBUG("joint calibration: no falling, using default value"); ROS_DEBUG("joint calibration: no falling, using default value");
this->falling = 0; this->falling.reset();
} }
else else
this->falling = atof(falling_position_str); this->falling.reset(new double(atof(falling_position_str)));
return true; return true;
} }