[Personalrobots-commit] SF.net SVN: personalrobots: [119] pkg/trunk/libTF/simple

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

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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