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From: <tf...@us...> - 2008-04-17 21:54:12
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Revision: 119
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=119&view=rev
Author: tfoote
Date: 2008-04-17 14:47:02 -0700 (Thu, 17 Apr 2008)
Log Message:
-----------
removing obsolete local data storage
Modified Paths:
--------------
pkg/trunk/libTF/simple/Quaternion3D.cc
pkg/trunk/libTF/simple/Quaternion3D.hh
pkg/trunk/libTF/simple/main.cc
Modified: pkg/trunk/libTF/simple/Quaternion3D.cc
===================================================================
--- pkg/trunk/libTF/simple/Quaternion3D.cc 2008-04-17 21:41:36 UTC (rev 118)
+++ pkg/trunk/libTF/simple/Quaternion3D.cc 2008-04-17 21:47:02 UTC (rev 119)
@@ -40,7 +40,6 @@
Quaternion3D::Quaternion3D(double _xt, double _yt, double _zt, double _xr, double _yr, double _zr, double _w, unsigned long long time):
- xt(_xt),yt(_yt),zt(_zt),xr(_xr),yr(_yr),zr(_zr),w(_w),
max_storage_time(MAX_STORAGE_TIME),
first(NULL),
last(NULL)
@@ -61,8 +60,7 @@
};
void Quaternion3D::Set(double _xt, double _yt, double _zt, double _xr, double _yr, double _zr, double _w, unsigned long long time)
-{xt = _xt; yt = _yt; zt = _zt; xr = _xr; yr = _yr; zr = _zr; w = _w;
-
+{
Quaternion3DStorage temp;
temp.xt = _xt; temp.yt = _yt; temp.zt = _zt; temp.xr = _xr; temp.yr = _yr; temp.zr = _zr; temp.w = _w; temp.time = time;
@@ -124,7 +122,6 @@
temp.zr = 0.25 * S;
temp.w = (mat[1] - mat[4] ) / S;
}
- xt = temp.xt; yt = temp.yt; zt = temp.zt; xr = temp.xr; yr = temp.yr; zr = temp.zr; w = temp.w;
add_value(temp);
};
@@ -261,9 +258,9 @@
mat[6] = 2 * ( yz + xw );
mat[10] = 1 - 2 * ( xx + yy );
mat[12] = mat[13] = mat[14] = 0;
- mat[3] = xt;
- mat[7] = yt;
- mat[11] = zt;
+ mat[3] = temp.xt;
+ mat[7] = temp.yt;
+ mat[11] = temp.zt;
mat[15] = 1;
Modified: pkg/trunk/libTF/simple/Quaternion3D.hh
===================================================================
--- pkg/trunk/libTF/simple/Quaternion3D.hh 2008-04-17 21:41:36 UTC (rev 118)
+++ pkg/trunk/libTF/simple/Quaternion3D.hh 2008-04-17 21:47:02 UTC (rev 119)
@@ -103,9 +103,6 @@
static unsigned long long Qgettime(void);
private:
- //Quaternion Storage
- double xt,yt,zt,xr,yr,zr,w;
-
/**** Linked List stuff ****/
static const long long MAX_STORAGE_TIME = 1000000000; // max of 100 seconds storage
Modified: pkg/trunk/libTF/simple/main.cc
===================================================================
--- pkg/trunk/libTF/simple/main.cc 2008-04-17 21:41:36 UTC (rev 118)
+++ pkg/trunk/libTF/simple/main.cc 2008-04-17 21:47:02 UTC (rev 119)
@@ -21,7 +21,7 @@
// mTR.set(10,2,1,1,1,dyaw,dp,dr,atime); //Switching out for DH params below
mTR.set(10,2,1,1,1,dyaw,atime);
//mTR.set(2,3,1-1,1,1,dyaw,dp,dr,atime-1000);
- mTR.set(2,3,2,1,1,dyaw,dp,dr,atime-100);
+ mTR.set(2,3,1,1,1,dyaw,dp,dr,atime-100);
mTR.set(2,3,1,1,1,dyaw,dp,dr,atime-50);
mTR.set(2,3,1,1,1,dyaw,dp,dr,atime-1000);
//mTR.set(2,3,1+1,1,1,dyaw,dp,dr,atime+1000);
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