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kdl_parser
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saving both soft and hard limits in collada

This commit is contained in:
rdiankov 2011-07-12 21:01:25 +09:00
parent c463e9e6e0
commit 46e173e0bf
1 changed files with 1 additions and 9 deletions
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10
collada_urdf/src/collada_urdf.cpp
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@ -563,10 +563,6 @@ protected:
flower = it->pjoint->limits->lower; flower = it->pjoint->limits->lower;
fupper = it->pjoint->limits->upper; fupper = it->pjoint->limits->upper;
} }
if( !!it->pjoint->safety ) {
flower = it->pjoint->safety->soft_lower_limit;
fupper = it->pjoint->safety->soft_upper_limit;
}
if( flower > 0 || fupper < 0 ) { if( flower > 0 || fupper < 0 ) {
value = 0.5*(flower+fupper); value = 0.5*(flower+fupper);
} }
@ -626,11 +622,7 @@ protected:
pdomjoint->setSid(jointid.c_str() ); pdomjoint->setSid(jointid.c_str() );
pdomjoint->setName(pjoint->name.c_str()); pdomjoint->setName(pjoint->name.c_str());
domAxis_constraintRef axis; domAxis_constraintRef axis;
if( !!pjoint->safety ) { if( !!pjoint->limits ) {
lmin=pjoint->safety->soft_lower_limit;
lmax=pjoint->safety->soft_upper_limit;
}
else if( !!pjoint->limits ) {
lmin=pjoint->limits->lower; lmin=pjoint->limits->lower;
lmax=pjoint->limits->upper; lmax=pjoint->limits->upper;
} }