Commit a76e1636 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Fix display of trajectory of joint along a path

parent fd38c5d5
......@@ -155,11 +155,12 @@ namespace hpp {
double t = std::min (i * dt, length);
hpp::floatSeq_var q = hpp->problem()->configAtParam(pid, t);
hpp->robot()->setCurrentConfig(q);
hpp::Transform__var transform = hpp->robot()->getLinkPosition(jointName.c_str());
hpp::Transform__var transform = hpp->robot()->getJointPosition(jointName.c_str());
const hpp::Transform__slice* tt = transform.in();
posSeq->push_back(::osg::Vec3 ((float)tt[0],(float)tt[1],(float)tt[2]));
emit displayPath_status(qFloor ((float)i * statusStep));
}
if (wsm->nodeExists(pn)) wsm->deleteNode (pn, true);
wsm->addCurve(pn, posSeq, colorE);
hpp->robot()->setCurrentConfig(curCfg.in());
wsm->addToGroup(pn.c_str(), "hpp-gui");
......
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