From bb64384ba880b1cbc701453e69bf5cc93b23ccc4 Mon Sep 17 00:00:00 2001
From: rdiankov <devnull@localhost>
Date: Sun, 20 May 2012 18:28:47 +0900
Subject: [PATCH] fixed second_partial derivative export for collada

---
 collada_urdf/src/collada_urdf.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp
index d5ef6a1..29479e6 100644
--- a/collada_urdf/src/collada_urdf.cpp
+++ b/collada_urdf/src/collada_urdf.cpp
@@ -1048,7 +1048,7 @@ protected:
                 derivelt->setAttribute("type","second_partial");
                 derivelt->setAttribute("target",str(boost::format("%s/%s")%kmodel->getID()%_ComputeId(pjoint->mimic->joint_name)).c_str());
                 daeElementRef pmath_const0 = derivelt->add("cn");
-                pmath_const0->setCharData("0");
+                pmath_const0->setCharData(str(boost::format("%f")%pjoint->mimic->multiplier));
             }
 
             {