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kdl_parser
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remove deprecated reference position. #4216

This commit is contained in:
wim 2010-09-29 18:06:37 +00:00
parent 5e0e8f7f9d
commit 78ee3ed5e5
1 changed files with 0 additions and 21 deletions
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21
urdf/src/joint.cpp
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@ -266,27 +266,6 @@ bool JointCalibration::initXml(TiXmlElement* config)
{ {
this->clear(); this->clear();
// Get reference_position
const char* reference_position_str = config->Attribute("reference_position");
if (reference_position_str == NULL)
{
ROS_DEBUG("joint calibration: no reference_position, using default value");
this->reference_position = 0;
}
else
{
ROS_WARN("The field 'reference_position' of a joint calibraiton is deprecated. Use the 'rising' and 'falling' fields instead.");
try
{
this->reference_position = boost::lexical_cast<double>(reference_position_str);
}
catch (boost::bad_lexical_cast &e)
{
ROS_ERROR("reference_position value (%s) is not a float",reference_position_str);
return false;
}
}
// Get rising edge position // Get rising edge position
const char* rising_position_str = config->Attribute("rising"); const char* rising_position_str = config->Attribute("rising");
if (rising_position_str == NULL) if (rising_position_str == NULL)