[Personalrobots-commit] SF.net SVN: personalrobots: [111] pkg/trunk/libTF/simple

[<tf...@us...>]

Revision: 111
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=111&view=rev
Author:   tfoote
Date:     2008-04-16 18:46:21 -0700 (Wed, 16 Apr 2008)

Log Message:
-----------
adding a set quaternion method

Modified Paths:
--------------
    pkg/trunk/libTF/simple/libTF.cc
    pkg/trunk/libTF/simple/libTF.hh

Modified: pkg/trunk/libTF/simple/libTF.cc
===================================================================
--- pkg/trunk/libTF/simple/libTF.cc	2008-04-17 00:03:10 UTC (rev 110)
+++ pkg/trunk/libTF/simple/libTF.cc	2008-04-17 01:46:21 UTC (rev 111)
@@ -39,6 +39,12 @@
   return;
 }
 
+/* Quaternion 3D version */
+void RefFrame::setParamsQuaternion3D(double a,double b,double c,double d,double e,double f, double g)
+{
+  myQuat.Set(a,b,c,d,e,f,g);
+};
+
 /* Six DOF version */
 void RefFrame::setParamsEulers(double a,double b,double c,double d,double e,double f)
 {

Modified: pkg/trunk/libTF/simple/libTF.hh
===================================================================
--- pkg/trunk/libTF/simple/libTF.hh	2008-04-17 00:03:10 UTC (rev 110)
+++ pkg/trunk/libTF/simple/libTF.hh	2008-04-17 01:46:21 UTC (rev 111)
@@ -48,6 +48,7 @@
   RefFrame();
 
   /* Set the parameters for this frame */
+  void setParamsQuaternion3D(double, double, double, double, double, double, double);
   void setParamsEulers(double, double, double, double, double, double);
   void setParamsDH(double, double, double, double);
   


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