diff --git a/source/RobotAPI/components/robotstate/SharedRobotServants.cpp b/source/RobotAPI/components/robotstate/SharedRobotServants.cpp index 61658211efe02721ba28660e396aa2804ad848f3..d7f0b7d96c442b7d196209ec4a96050fa16eb6ea 100644 --- a/source/RobotAPI/components/robotstate/SharedRobotServants.cpp +++ b/source/RobotAPI/components/robotstate/SharedRobotServants.cpp @@ -131,11 +131,6 @@ PoseBasePtr SharedRobotNodeServant::getGlobalPose(const Current ¤t) const return new Pose(_node->getGlobalPose()); } -PoseBasePtr SharedRobotNodeServant::getGlobalPoseJoint(const Current ¤t) const -{ - ReadLockPtr lock = _node->getRobot()->getReadLock(); - return new Pose(_node->getGlobalPoseJoint()); -} JointType SharedRobotNodeServant::getType(const Current ¤t) const { diff --git a/source/RobotAPI/components/robotstate/SharedRobotServants.h b/source/RobotAPI/components/robotstate/SharedRobotServants.h index 458fa3262fea740b25efedc2baf362fd96934de1..90ac1954d4d81681286bef38cdc3be9b17682197 100644 --- a/source/RobotAPI/components/robotstate/SharedRobotServants.h +++ b/source/RobotAPI/components/robotstate/SharedRobotServants.h @@ -58,9 +58,7 @@ namespace armarx { virtual std::string getName(const Ice::Current ¤t) const; virtual PoseBasePtr getLocalTransformation(const Ice::Current ¤t) const; - //virtual PoseBasePtr getPostJointTransformation(const Ice::Current ¤t) const; virtual PoseBasePtr getGlobalPose(const Ice::Current ¤t) const; - virtual PoseBasePtr getGlobalPoseJoint(const Ice::Current ¤t) const; virtual JointType getType(const Ice::Current ¤t) const; virtual Vector3BasePtr getJointTranslationDirection(const Ice::Current ¤t) const; diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice index 5c27ddf4bf58064948054717cf68342523a2a82b..7df7ce543d49e0c967375f0785975ac121383264 100644 --- a/source/RobotAPI/interface/core/RobotState.ice +++ b/source/RobotAPI/interface/core/RobotState.ice @@ -57,8 +57,6 @@ module armarx ["cpp:const"] idempotent PoseBase getGlobalPose(); - ["cpp:const"] idempotent - PoseBase getGlobalPoseJoint(); ["cpp:const"] idempotent JointType getType(); diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h index 8b8b5c151f602d5976400e52dc63a670767650a4..3c183a626d6d5b87d153e4bb41d072cfd9649446 100644 --- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h +++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h @@ -98,12 +98,9 @@ namespace armarx virtual float getJointLimitHi() const; virtual float getJointLimitLo() const; - //virtual Eigen::Matrix4f getPostJointTransformation(); virtual Eigen::Matrix4f getLocalTransformation(); virtual Eigen::Matrix4f getGlobalPose() const; - virtual Eigen::Matrix4f getGlobalPoseVisualization() const; - virtual Eigen::Matrix4f getGlobalPoseJoint() const; virtual bool hasChildNode(const std::string &child, bool recursive = false) const; virtual std::vector<VirtualRobot::RobotNodePtr> getAllParents( VirtualRobot::RobotNodeSetPtr rns ); diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp index 32dc5073d90e7d94ea441db4fc182ac8b8d49570..8199d06a83f706cfeb9b50362c18033f0d1e506a 100644 --- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp +++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp @@ -34,7 +34,7 @@ template<> void RemoteRobotNodeInitializer<VirtualRobot::RobotNodeRevolute>::initialize(RemoteRobotNode<VirtualRobot::RobotNodeRevolute>* remoteNode) { // set rotation axis - remoteNode->jointRotationAxis = remoteNode->getGlobalPoseJoint().block<3,3>(0,0).inverse() * Vector3Ptr::dynamicCast(remoteNode->_node->getJointRotationAxis())->toEigen(); + remoteNode->jointRotationAxis = remoteNode->getGlobalPose().block<3,3>(0,0).inverse() * Vector3Ptr::dynamicCast(remoteNode->_node->getJointRotationAxis())->toEigen(); } template<> @@ -98,15 +98,6 @@ Eigen::Matrix4f RemoteRobotNode<RobotNodeType>::getGlobalPose() const { return PosePtr::dynamicCast(_node->getGlobalPose())->toEigen(); } -template<class RobotNodeType> -Eigen::Matrix4f RemoteRobotNode<RobotNodeType>::getGlobalPoseVisualization() const { - return PosePtr::dynamicCast(_node->getGlobalPose())->toEigen(); -} -template<class RobotNodeType> -Eigen::Matrix4f RemoteRobotNode<RobotNodeType>::getGlobalPoseJoint() const { - return PosePtr::dynamicCast(_node->getGlobalPoseJoint())->toEigen(); -} - template<class RobotNodeType> bool RemoteRobotNode<RobotNodeType>::hasChildNode(const RobotNodePtr child, bool recursive) const{ return false;