removed obsolete methods and changed getGlobalPoseVisu/Joint to the one and...

removed obsolete methods and changed getGlobalPoseVisu/Joint to the one and only getGlobalPose method.

source/RobotAPI/components/robotstate/SharedRobotServants.cpp

@@ -131,11 +131,6 @@ PoseBasePtr SharedRobotNodeServant::getGlobalPose(const Current &current) const
     return new Pose(_node->getGlobalPose());
 }
 
-PoseBasePtr SharedRobotNodeServant::getGlobalPoseJoint(const Current &current) const
-{
-    ReadLockPtr lock = _node->getRobot()->getReadLock();
-    return new Pose(_node->getGlobalPoseJoint());
-}
 
 JointType SharedRobotNodeServant::getType(const Current &current) const
 {

source/RobotAPI/components/robotstate/SharedRobotServants.h

@@ -58,9 +58,7 @@ namespace armarx {
         virtual std::string getName(const Ice::Current &current) const;
 
         virtual PoseBasePtr getLocalTransformation(const Ice::Current &current) const;
-        //virtual PoseBasePtr getPostJointTransformation(const Ice::Current &current) const;
         virtual PoseBasePtr getGlobalPose(const Ice::Current &current) const;
-        virtual PoseBasePtr getGlobalPoseJoint(const Ice::Current &current) const;
 
         virtual JointType getType(const Ice::Current &current) const;
         virtual Vector3BasePtr getJointTranslationDirection(const Ice::Current &current) const;

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();

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 );

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;