fix camera frame reorientation for hrp2_10 and hrp2_14 close #7

391f4419 · Damien Petit · e93c0588 · 391f4419 · 391f4419
Commit 391f4419 authored Nov 26, 2013 by Damien Petit
Showing with 4 additions and 3 deletions

src/dynamic_graph/sot/hrp2_10/robot.py.in src/dynamic_graph/sot/hrp2_10/robot.py.in +3 -2

src/dynamic_graph/sot/hrp2_14/robot.py.in src/dynamic_graph/sot/hrp2_14/robot.py.in +1 -1

No files found.
--- a/src/dynamic_graph/sot/hrp2_10/robot.py.in
+++ b/src/dynamic_graph/sot/hrp2_10/robot.py.in
@@ -102,8 +102,9 @@ class Robot (Hrp2):
             [ 0.,  0.,  0., 1.]])

        for camera in [cameraBottomLeftPosition, cameraBottomRightPosition,
-                       cameraTopLeftPosition, cameraTopRightPosition]:
-            camera = camera * c1_M_c
+                       cameraTopLeftPosition, cameraTopRightPosition,
+                       cameraXtionRGBPosition]:
+            camera[:] = camera * c1_M_c

        self.AdditionalFrames.append(
                ("cameraBottomLeft",

--- a/src/dynamic_graph/sot/hrp2_14/robot.py.in
+++ b/src/dynamic_graph/sot/hrp2_14/robot.py.in
@@ -97,7 +97,7 @@ class Robot (Hrp2):

        for camera in [cameraBottomLeftPosition, cameraBottomRightPosition,
                       cameraTopLeftPosition, cameraTopRightPosition]:
-            camera = camera * c1_M_c
+            camera[:] = camera * c1_M_c

        self.AdditionalFrames.append(
                ("cameraBottomLeft",