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kdl_parser
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use angles::to_degrees() to make the angles conversion from radians to degrees

This commit is contained in:
hsu 2010-03-09 22:24:25 +00:00
parent 2faa8ca082
commit 6369746caf
3 changed files with 7 additions and 4 deletions
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1
collada_urdf/manifest.xml
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@ -11,4 +11,5 @@
<depend package="colladadom" /> <depend package="colladadom" />
<depend package="assimp" /> <depend package="assimp" />
<depend package="resource_retriever" /> <depend package="resource_retriever" />
<depend package="angles" />
</package> </package>

8
collada_urdf/src/urdf_to_collada.cpp
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@ -56,6 +56,8 @@
#include <urdf/model.h> #include <urdf/model.h>
#include <urdf/pose.h> #include <urdf/pose.h>
#include <angles/angles.h>
#include "STLLoader.h" #include "STLLoader.h"
using namespace std; using namespace std;
@ -533,8 +535,8 @@ public:
// <limits> // <limits>
domJoint_limitsRef limits = daeSafeCast<domJoint_limits>(revolute->createAndPlace(COLLADA_TYPE_LIMITS)); domJoint_limitsRef limits = daeSafeCast<domJoint_limits>(revolute->createAndPlace(COLLADA_TYPE_LIMITS));
{ {
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = urdf_joint->limits->lower * (180.0 / M_PI); daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MIN))->getValue() = angles::to_degrees(urdf_joint->limits->lower);
daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = urdf_joint->limits->upper * (180.0 / M_PI); daeSafeCast<domMinmax>(limits->createAndPlace(COLLADA_ELEMENT_MAX))->getValue() = angles::to_degrees(urdf_joint->limits->upper);
} }
// </limits> // </limits>
} }
@ -916,7 +918,7 @@ public:
rot->getValue()[0] = ax; rot->getValue()[0] = ax;
rot->getValue()[1] = ay; rot->getValue()[1] = ay;
rot->getValue()[2] = az; rot->getValue()[2] = az;
rot->getValue()[3] = aa * (180.0 / M_PI); rot->getValue()[3] = angles::to_degrees(aa);
return rot; return rot;
} }
}; };

2
stack.xml
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@ -12,7 +12,7 @@
<url>http://ros.org/wiki/robot_model</url> <url>http://ros.org/wiki/robot_model</url>
<depend stack="common" /> <!-- tinyxml --> <depend stack="common" /> <!-- tinyxml -->
<depend stack="common_msgs" /> <!-- sensor_msgs --> <depend stack="common_msgs" /> <!-- sensor_msgs -->
<depend stack="geometry" /> <!-- tf, kdl, tf_conversions --> <depend stack="geometry" /> <!-- angles, tf, kdl, tf_conversions -->
<depend stack="ros" /> <!-- rosconsole, roslib, roscpp --> <depend stack="ros" /> <!-- rosconsole, roslib, roscpp -->
</stack> </stack>