From ab20bb32d547d7b71a96e5e72fc4b16e97b7ba87 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 12 Mar 2021 15:46:45 +0100
Subject: [PATCH] fixing merge
---
.../components/RobotState/RobotStateComponent.cpp | 13 ++-----------
1 file changed, 2 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 6016f6820..f443dcd41 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -374,17 +374,9 @@ namespace armarx
void RobotStateComponent::reportPlatformPose(const PoseStamped& platformPose, const Current&)
-
- void RobotStateComponent::reportPlatformPose(const PlatformPose& currentPose, const Current&)
{
- const float z = 0;
- const Eigen::Vector3f position(currentPose.x, currentPose.y, z);
- const Eigen::Matrix3f orientation =
- Eigen::AngleAxisf(currentPose.rotationAroundZ, Eigen::Vector3f::UnitZ()).toRotationMatrix();
- const Eigen::Matrix4f globalPose = math::Helpers::Pose(position, orientation);
-
- IceUtil::Time time = IceUtil::Time::microSeconds(currentPose.timestampInMicroSeconds);
- insertPose(time, globalPose);
+ IceUtil::Time time = IceUtil::Time::microSeconds(platformPose.header.timestampInMicroSeconds);
+ insertPose(time, platformPose.pose.matrix());
if (_sharedRobotServant)
{
@@ -401,7 +393,6 @@ namespace armarx
void RobotStateComponent::setRobotStateObserver(RobotStateObserverPtr observer)
{
// Unused.
- (void) newPlatformPositionX, (void) newPlatformPositionY, (void) newPlatformRotation;
}
--
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