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From: <is...@us...> - 2008-08-01 01:15:59
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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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