From c36bcfdb1bfb8b95a66ab1e408af0e8adde466c6 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Fri, 17 Jul 2015 10:36:07 +0200
Subject: [PATCH] robotik gui: Removed unneeded transformation to local
coordinate system
---
source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp
index 99140c313..be21f60ca 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp
@@ -460,7 +460,7 @@ armarx::ExtendedIKResult armarx::RobotIKWidgetController::getIKSolution()
mat (3,2) = matrix[2][3];
mat (3,3) = matrix[3][3];
- mat = robot->getRootNode()->toLocalCoordinateSystem(mat);
+// mat = robot->getRootNode()->toLocalCoordinateSystem(mat);
return(robotIKPrx->computeExtendedIKGlobalPose(this->ui.comboBox->currentText().toStdString(),
new armarx::Pose(mat), eAll));
}
--
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