From 9b30338f9c718ed7076cb466a644539f7811e028 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Mon, 8 Feb 2016 21:16:56 +0100
Subject: [PATCH] fixed frame correction in framedirection
---
source/RobotAPI/libraries/core/FramedPose.cpp | 7 +++----
1 file changed, 3 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index facb1e393..2ea1a8f0f 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -4,9 +4,8 @@
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/LinkedCoordinate.h>
-#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/VirtualRobot.h>
-
+#include <VirtualRobot/RobotConfig.h>
using namespace Eigen;
using namespace std;
@@ -76,7 +75,7 @@ namespace armarx
{
if (frame == "")
{
- frame == GlobalFrame;
+ frame = GlobalFrame;
}
@@ -205,7 +204,7 @@ namespace armarx
else
{
auto node = robotState->getRobotNode(oldFrame);
- ARMARX_CHECK_EXPRESSION_W_HINT(node, "old frame: " + oldFrame);
+ ARMARX_CHECK_EXPRESSION_W_HINT(node, "old frame: " + oldFrame + ValueToString(robotState->getConfig()->getRobotNodeJointValueMap()));
auto newNode = robotState->getRobotNode(newFrame);
ARMARX_CHECK_EXPRESSION_W_HINT(newNode, newFrame);
toNewFrame = node->getTransformationTo(newNode);
--
GitLab