[Personalrobots-commit] SF.net SVN: personalrobots: [165] pkg/trunk/libTF/src/simple/libTF.cpp

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

Revision: 165
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=165&view=rev
Author:   tfoote
Date:     2008-04-23 13:18:51 -0700 (Wed, 23 Apr 2008)

Log Message:
-----------
transforming points instead of frames

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

Modified: pkg/trunk/libTF/src/simple/libTF.cpp
===================================================================
--- pkg/trunk/libTF/src/simple/libTF.cpp	2008-04-23 16:09:53 UTC (rev 164)
+++ pkg/trunk/libTF/src/simple/libTF.cpp	2008-04-23 20:18:51 UTC (rev 165)
@@ -159,13 +159,13 @@
   
   for (unsigned int i = 0; i < lists.inverseTransforms.size(); i++)
     {
-      retMat *= getFrame(lists.inverseTransforms[i])->getInverseMatrix(time);
+      retMat *= getFrame(lists.inverseTransforms[i])->getMatrix(time);
       //      std::cout <<"Multiplying by " << std::endl << frames[lists.inverseTransforms[i]].getInverseMatrix() << std::endl; 
       //std::cout <<"Result "<<std::endl << retMat << std::endl;
    }
   for (unsigned int i = 0; i < lists.forwardTransforms.size(); i++) 
     {
-      retMat *= getFrame(lists.forwardTransforms[lists.forwardTransforms.size() -1 - i])->getMatrix(time); //Do this list backwards for it was generated traveling the wrong way
+      retMat *= getFrame(lists.forwardTransforms[lists.forwardTransforms.size() -1 - i])->getInverseMatrix(time); //Do this list backwards for it was generated traveling the wrong way
       //      std::cout <<"Multiplying by "<<std::endl << frames[lists.forwardTransforms[i]].getMatrix() << std::endl;
       //std::cout <<"Result "<<std::endl << retMat << std::endl;
     }


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