[Personalrobots-commit] SF.net SVN: personalrobots: [158] pkg/trunk/libTF/src/simple/Quaternion3D. cpp

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

Revision: 158
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=158&view=rev
Author:   tfoote
Date:     2008-04-22 16:35:36 -0700 (Tue, 22 Apr 2008)

Log Message:
-----------
removing debugging display

Modified Paths:
--------------
    pkg/trunk/libTF/src/simple/Quaternion3D.cpp

Modified: pkg/trunk/libTF/src/simple/Quaternion3D.cpp
===================================================================
--- pkg/trunk/libTF/src/simple/Quaternion3D.cpp	2008-04-22 23:14:22 UTC (rev 157)
+++ pkg/trunk/libTF/src/simple/Quaternion3D.cpp	2008-04-22 23:35:36 UTC (rev 158)
@@ -252,11 +252,9 @@
   long long diff_time;
   getValue(temp, time, diff_time);
 
-  std::cout << temp;
-  //  printStorage(temp);
-  // std::cout <<"Locally: "<< xt <<", "<< yt  <<", "<< zt <<", "<< xr <<", "<<yr  <<", "<<zr  <<", "<<w<<std::endl;
-  //std::cout << "time Difference: "<< diff_time<<std::endl;
-
+  //print Storage:
+  //  std::cout << temp;
+ 
   return temp.asMatrix();
 }  
 
@@ -516,7 +514,7 @@
   long long target_diff = target_time - one.time;
 
   //Check for zero distance case and just return
-  if (total_diff < 10 || target_diff < 10)
+  if (abs(total_diff) < MIN_INTERPOLATION_DISTANCE || abs(target_diff) < MIN_INTERPOLATION_DISTANCE)
     {
       output = one;
       return;


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