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kdl_parser
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merge

This commit is contained in:
Wim Meeussen 2011-08-01 10:20:15 -07:00
parent fbd4e7d4d3 5fef6c2f62
commit 73f9ab96ca
1 changed files with 1 additions and 1 deletions
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2
collada_urdf/src/collada_urdf.cpp
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@ -1300,8 +1300,8 @@ protected:
rigid_body->setName(itlink->second->name.c_str());
domRigid_body::domTechnique_commonRef ptec = daeSafeCast<domRigid_body::domTechnique_common>(rigid_body->add(COLLADA_ELEMENT_TECHNIQUE_COMMON));
boost::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial;
daeSafeCast<domRigid_body::domTechnique_common::domDynamic>(ptec->add(COLLADA_ELEMENT_DYNAMIC))->setValue(xsBoolean(!!inertial));
if( !!inertial ) {
daeSafeCast<domRigid_body::domTechnique_common::domDynamic>(ptec->add(COLLADA_ELEMENT_DYNAMIC))->setValue(xsBoolean(true)); //!!inertial));
domTargetable_floatRef mass = daeSafeCast<domTargetable_float>(ptec->add(COLLADA_ELEMENT_MASS));
mass->setValue(inertial->mass);
double fCovariance[9] = { inertial->ixx, inertial->ixy, inertial->ixz, inertial->ixy, inertial->iyy, inertial->iyz, inertial->ixz, inertial->iyz, inertial->izz};