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kdl_parser
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collada exporter: forgot one place to update the id

This commit is contained in:
rdiankov 2011-01-06 04:25:05 +00:00
parent 7512d26196
commit 701b17c423
1 changed files with 4 additions and 4 deletions
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8
collada_urdf/src/collada_urdf.cpp
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@ -701,7 +701,7 @@ protected:
pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier));
daeElementRef pmath_symb = pmath_apply1->add("csymbol"); daeElementRef pmath_symb = pmath_apply1->add("csymbol");
pmath_symb->setAttribute("encoding","COLLADA"); pmath_symb->setAttribute("encoding","COLLADA");
pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name)); pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%_ComputeId(pjoint->mimic->joint_name)));
} }
daeElementRef pmath_const1 = pmath_apply->add("cn"); daeElementRef pmath_const1 = pmath_apply->add("cn");
pmath_const1->setCharData(str(boost::format("%f")%pjoint->mimic->offset)); pmath_const1->setCharData(str(boost::format("%f")%pjoint->mimic->offset));
@ -711,7 +711,7 @@ protected:
{ {
daeElementRef derivelt = pftec->add("equation"); daeElementRef derivelt = pftec->add("equation");
derivelt->setAttribute("type","first_partial"); derivelt->setAttribute("type","first_partial");
derivelt->setAttribute("target",str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name).c_str()); derivelt->setAttribute("target",str(boost::format("%s/%s")%kmodel->getID()%_ComputeId(pjoint->mimic->joint_name)).c_str());
daeElementRef pmath_const0 = derivelt->add("cn"); daeElementRef pmath_const0 = derivelt->add("cn");
pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier));
} }
@ -719,7 +719,7 @@ protected:
{ {
daeElementRef derivelt = pftec->add("equation"); daeElementRef derivelt = pftec->add("equation");
derivelt->setAttribute("type","second_partial"); derivelt->setAttribute("type","second_partial");
derivelt->setAttribute("target",str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name).c_str()); derivelt->setAttribute("target",str(boost::format("%s/%s")%kmodel->getID()%_ComputeId(pjoint->mimic->joint_name)).c_str());
daeElementRef pmath_const0 = derivelt->add("cn"); daeElementRef pmath_const0 = derivelt->add("cn");
pmath_const0->setCharData("0"); pmath_const0->setCharData("0");
} }
@ -739,7 +739,7 @@ protected:
pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier)); pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier));
daeElementRef pmath_symb = pmath_apply1->add("csymbol"); daeElementRef pmath_symb = pmath_apply1->add("csymbol");
pmath_symb->setAttribute("encoding","COLLADA"); pmath_symb->setAttribute("encoding","COLLADA");
pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%pjoint->mimic->joint_name)); pmath_symb->setCharData(str(boost::format("%s/%s")%kmodel->getID()%_ComputeId(pjoint->mimic->joint_name)));
} }
daeElementRef pmath_const1 = pmath_apply->add("cn"); daeElementRef pmath_const1 = pmath_apply->add("cn");
pmath_const1->setCharData(str(boost::format("%f")%pjoint->mimic->offset)); pmath_const1->setCharData(str(boost::format("%f")%pjoint->mimic->offset));