Commit 3c867015 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Update to modification in hpp-model

  - JointTranslation is now a template class.
parent 5ea1602f
......@@ -62,11 +62,11 @@ void addEdge (const hpp::core::RoadmapPtr_t& r,
BOOST_AUTO_TEST_CASE (Roadmap1) {
// Build robot
DevicePtr_t robot = Device::create("robot");
JointPtr_t xJoint = new JointTranslation(fcl::Transform3f());
JointPtr_t xJoint = new JointTranslation <1> (fcl::Transform3f());
xJoint->isBounded(0,1);
xJoint->lowerBound(0,-3.);
xJoint->upperBound(0,3.);
JointPtr_t yJoint = new JointTranslation
JointPtr_t yJoint = new JointTranslation <1>
(fcl::Transform3f(fcl::Quaternion3f (sqrt (2)/2, 0, 0, sqrt(2)/2)));
yJoint->isBounded(0,1);
yJoint->lowerBound(0,-3.);
......
......@@ -54,11 +54,11 @@ BOOST_AUTO_TEST_SUITE( test_hpp_core )
BOOST_AUTO_TEST_CASE (kdTree) {
// Build Device
DevicePtr_t robot = Device::create("robot");
JointPtr_t xJoint = new JointTranslation(Transform3f());
JointPtr_t xJoint = new JointTranslation <1> (Transform3f());
xJoint->isBounded(0,1);
xJoint->lowerBound(0,-3.);
xJoint->upperBound(0,3.);
JointPtr_t yJoint = new JointTranslation(Transform3f());
JointPtr_t yJoint = new JointTranslation <1> (Transform3f());
yJoint->isBounded(0,1);
yJoint->lowerBound(0,-3.);
yJoint->upperBound(0,3.);
......
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