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Viewing changes to intern/itasc/kdl/joint.cpp

  • Committer: Package Import Robot
  • Author(s): Jeremy Bicha
  • Date: 2013-03-06 12:08:47 UTC
  • mfrom: (1.5.1) (14.1.8 experimental)
  • Revision ID: package-import@ubuntu.com-20130306120847-frjfaryb2zrotwcg
Tags: 2.66a-1ubuntu1
https://launchpad.net/bugs/1076930
https://launchpad.net/bugs/1089256
https://launchpad.net/bugs/1052743
https://launchpad.net/bugs/999024
* Resynchronize with Debian (LP: #1076930, #1089256, #1052743, #999024,
  #1122888, #1147084)
* debian/control:
  - Lower build-depends on libavcodec-dev since we're not
    doing the libav9 transition in Ubuntu yet

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Lines of Context:
intern/itasc/kdl/joint.cpp
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    {
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    }
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    Frame Joint::pose(const double& q)const
 
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    Frame Joint::pose(const double* q)const
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    {
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        switch(type){
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        case RotX:
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            return Frame(Rotation::RotX(scale*q+offset));
 
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                        assert(q);
 
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            return Frame(Rotation::RotX(scale*q[0]+offset));
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            break;
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        case RotY:
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            return  Frame(Rotation::RotY(scale*q+offset));
 
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                        assert(q);
 
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            return  Frame(Rotation::RotY(scale*q[0]+offset));
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            break;
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        case RotZ:
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            return  Frame(Rotation::RotZ(scale*q+offset));
 
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                        assert(q);
 
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            return  Frame(Rotation::RotZ(scale*q[0]+offset));
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            break;
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        case TransX:
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            return  Frame(Vector(scale*q+offset,0.0,0.0));
 
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                        assert(q);
 
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            return  Frame(Vector(scale*q[0]+offset,0.0,0.0));
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            break;
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        case TransY:
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            return Frame(Vector(0.0,scale*q+offset,0.0));
 
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                        assert(q);
 
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            return Frame(Vector(0.0,scale*q[0]+offset,0.0));
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            break;
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        case TransZ:
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            return Frame(Vector(0.0,0.0,scale*q+offset));
 
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                        assert(q);
 
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            return Frame(Vector(0.0,0.0,scale*q[0]+offset));
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            break;
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                case Sphere:
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                        // the joint angles represent a rotation vector expressed in the base frame of the joint
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                        // (= the frame you get when there is no offset nor rotation)
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                        return Frame(Rot(Vector((&q)[0], (&q)[1], (&q)[2])));
 
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                        assert(q);
 
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                        return Frame(Rot(Vector(q[0], q[1], q[2])));
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                        break;
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                case Swing:
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                        // the joint angles represent a 2D rotation vector in the XZ planee of the base frame of the joint
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                        // (= the frame you get when there is no offset nor rotation)
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                        return Frame(Rot(Vector((&q)[0], 0.0, (&q)[1])));
 
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                        assert(q);
 
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                        return Frame(Rot(Vector(q[0], 0.0, q[1])));
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                        break;
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        default:
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            return Frame::Identity();