diff options
Diffstat (limited to 'graphics/blender/files/patch-intern_itasc_kdl_tree.hpp')
| -rw-r--r-- | graphics/blender/files/patch-intern_itasc_kdl_tree.hpp | 89 |
1 files changed, 89 insertions, 0 deletions
diff --git a/graphics/blender/files/patch-intern_itasc_kdl_tree.hpp b/graphics/blender/files/patch-intern_itasc_kdl_tree.hpp new file mode 100644 index 000000000000..0124a7c49018 --- /dev/null +++ b/graphics/blender/files/patch-intern_itasc_kdl_tree.hpp @@ -0,0 +1,89 @@ +--- intern/itasc/kdl/tree.hpp.orig 2012-12-15 12:15:05.000000000 +0100 ++++ intern/itasc/kdl/tree.hpp 2013-11-13 12:06:00.000000000 +0100 +@@ -60,13 +60,13 @@ + public: + Segment segment; + unsigned int q_nr; +- SegmentMap::const_iterator parent; ++ std::pair<const std::string, TreeElement> const *parent; + std::vector<SegmentMap::const_iterator > children; + TreeElement(const Segment& segment_in,const SegmentMap::const_iterator& parent_in,unsigned int q_nr_in) + { + q_nr=q_nr_in; + segment=segment_in; +- parent=parent_in; ++ parent=&*parent_in; + }; + static TreeElement Root() + { +--- intern/itasc/kdl/treefksolverpos_recursive.cpp.orig 2011-10-23 20:38:16.000000000 +0200 ++++ intern/itasc/kdl/treefksolverpos_recursive.cpp 2013-11-13 14:43:21.000000000 +0100 +@@ -45,12 +45,12 @@ + else if(baseit == tree.getSegments().end()) //if the base segment name is not found + return -3; + else{ +- p_out = recursiveFk(q_in, it, baseit); ++ p_out = recursiveFk(q_in, &*it, &*baseit); + return 0; + } + } + +- Frame TreeFkSolverPos_recursive::recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it, const SegmentMap::const_iterator& baseit) ++ Frame TreeFkSolverPos_recursive::recursiveFk(const JntArray& q_in, std::pair<const std::string, KDL::TreeElement> const *it, std::pair<const std::string, KDL::TreeElement> const *baseit) + { + //gets the frame for the current element (segment) + const TreeElement& currentElement = it->second; +@@ -60,8 +60,7 @@ + } + else{ + Frame currentFrame = currentElement.segment.pose(((JntArray&)q_in)(currentElement.q_nr)); +- SegmentMap::const_iterator parentIt = currentElement.parent; +- return recursiveFk(q_in, parentIt, baseit) * currentFrame; ++ return recursiveFk(q_in, currentElement.parent, baseit) * currentFrame; + } + } + +--- intern/itasc/kdl/treefksolverpos_recursive.hpp.orig 2009-07-14 17:36:21.000000000 +0200 ++++ intern/itasc/kdl/treefksolverpos_recursive.hpp 2013-11-13 14:48:02.000000000 +0100 +@@ -45,7 +45,7 @@ + private: + const Tree tree; + +- Frame recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it, const SegmentMap::const_iterator& baseit); ++ Frame recursiveFk(const JntArray& q_in, std::pair<const std::string, KDL::TreeElement> const *it, std::pair<const std::string, KDL::TreeElement> const *baseit); + }; + + } +--- intern/itasc/kdl/treejnttojacsolver.cpp.orig 2011-10-23 20:38:16.000000000 +0200 ++++ intern/itasc/kdl/treejnttojacsolver.cpp 2013-11-13 15:04:38.000000000 +0100 +@@ -28,16 +28,16 @@ + return -1; + + //Lets search the tree-element +- SegmentMap::const_iterator it = tree.getSegments().find(segmentname); ++ std::pair<const std::string, KDL::TreeElement> const *it = &*tree.getSegments().find(segmentname); + + //If segmentname is not inside the tree, back out: +- if (it == tree.getSegments().end()) ++ if (it == &*tree.getSegments().end()) + return -2; + + //Let's make the jacobian zero: + SetToZero(jac); + +- SegmentMap::const_iterator root = tree.getSegments().find("root"); ++ std::pair<const std::string, KDL::TreeElement> const *root = &*tree.getSegments().find("root"); + + Frame T_total = Frame::Identity(); + Frame T_local, T_joint; +--- intern/itasc/Armature.cpp.orig 2013-03-18 12:44:56.000000000 +0100 ++++ intern/itasc/Armature.cpp 2013-11-13 14:21:32.000000000 +0100 +@@ -402,7 +402,7 @@ + m_armlength = 0.0; + for (i=0; i<m_neffector; i++) { + length = 0.0; +- KDL::SegmentMap::const_iterator sit = m_tree.getSegment(m_effectors[i].name); ++ std::pair<const std::string, KDL::TreeElement> const *sit = &*m_tree.getSegment(m_effectors[i].name); + while (sit->first != "root") { + Frame tip = sit->second.segment.pose(m_qKdl(sit->second.q_nr)); + length += tip.p.Norm(); |