[Personalrobots-commit] SF.net SVN: personalrobots:[2426] pkg/trunk

[<is...@us...>]

Revision: 2426
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=2426&view=rev
Author:   isucan
Date:     2008-08-01 01:16:08 +0000 (Fri, 01 Aug 2008)

Log Message:
-----------
fixed state space bounding box problem

Modified Paths:
--------------
    pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp
    pkg/trunk/util/test_collision_space/src/test_kinematic_ode.cpp

Modified: pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp
===================================================================
--- pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp	2008-08-01 01:08:27 UTC (rev 2425)
+++ pkg/trunk/robot_models/robot_motion_planning_models/src/planning_models/kinematic.cpp	2008-08-01 01:16:08 UTC (rev 2426)
@@ -240,6 +240,12 @@
     joint->anchor[0] = urdfLink->joint->anchor[0];
     joint->anchor[1] = urdfLink->joint->anchor[1];
     joint->anchor[2] = urdfLink->joint->anchor[2];
+    if (!urdfLink->joint->isSet["limit"] && urdfLink->joint->type == robot_desc::URDF::Link::Joint::REVOLUTE)
+    {
+	joint->limit[0] = -M_PI;
+	joint->limit[1] =  M_PI;
+    }
+
     switch (urdfLink->joint->type)
     {
     case robot_desc::URDF::Link::Joint::FLOATING:
@@ -278,12 +284,6 @@
 	break;
     }
     
-    if (!urdfLink->joint->isSet["limit"] && joint->type == Joint::REVOLUTE)
-    {
-	joint->limit[0] = -M_PI;
-	joint->limit[1] =  M_PI;
-    }
-
     /** construct the inGroup bitvector */
     std::vector<std::string> gnames;
     model.getGroupNames(gnames);

Modified: pkg/trunk/util/test_collision_space/src/test_kinematic_ode.cpp
===================================================================
--- pkg/trunk/util/test_collision_space/src/test_kinematic_ode.cpp	2008-08-01 01:08:27 UTC (rev 2425)
+++ pkg/trunk/util/test_collision_space/src/test_kinematic_ode.cpp	2008-08-01 01:16:08 UTC (rev 2426)
@@ -68,6 +68,7 @@
     
     EnvironmentModel *km = new EnvironmentModelODE();
     planning_models::KinematicModel *m = new planning_models::KinematicModel();
+    m->setVerbose(true);
     m->build(model);    
     km->addRobotModel(m);
     m->printModelInfo();
@@ -97,7 +98,6 @@
     
     printf("Collision: %d\n", km->isCollision(0));
     
-
     dsFunctions fn;
     fn.version = DS_VERSION;
     fn.start   = &start;


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