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kdl_parser
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#4116, switch so translate first then rotate

This commit is contained in:
hsu 2010-05-24 23:46:35 +00:00
parent 9223320aa4
commit 3f5af78096
1 changed files with 6 additions and 6 deletions
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12
collada_urdf/src/collada_writer.cpp
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@ -656,10 +656,10 @@ void ColladaWriter::addKinematicLink(shared_ptr<const urdf::Link> urdf_link, dae
string attachment_joint = string("k1/") + joint_sids_[urdf_joint->name];
attachment_full->setJoint(attachment_joint.c_str());
{
// <rotate>x y z w</rotate>
addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation, NULL, true);
// <translate>x y z</translate>
addTranslate(attachment_full, urdf_joint->parent_to_joint_origin_transform.position, NULL, true);
// <rotate>x y z w</rotate>
addRotate(attachment_full, urdf_joint->parent_to_joint_origin_transform.rotation, NULL, true);
addKinematicLink(robot_.getLink(urdf_joint->child_link_name), attachment_full, link_num);
}
@ -778,10 +778,10 @@ void ColladaWriter::addVisualLink(shared_ptr<urdf::Link const> urdf_link, daeEle
{
if (urdf_link->parent_joint != NULL) {
// <rotate>x y z w</rotate>
addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation, NULL, true);
// <translate>x y z</translate>
addTranslate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.position, NULL, true);
// <rotate>x y z w</rotate>
addRotate(node, urdf_link->parent_joint->parent_to_joint_origin_transform.rotation, NULL, true);
if (urdf_link->visual != NULL) {
// <node id="v1.node0.visual" name="visual" sid="visual">
@ -794,10 +794,10 @@ void ColladaWriter::addVisualLink(shared_ptr<urdf::Link const> urdf_link, daeEle
parent_node = visual_node;
// <rotate>x y z w</rotate>
addRotate(parent_node, urdf_link->visual->origin.rotation, NULL, true);
// <translate>x y z</translate>
addTranslate(parent_node, urdf_link->visual->origin.position, NULL, true);
// <rotate>x y z w</rotate>
addRotate(parent_node, urdf_link->visual->origin.rotation, NULL, true);
}
// <rotate sid="node_joint0_axis0">x y z angle</rotate>