Commit c50034b2 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Enhance Joint output in a stream

  - display local position of objects in joint frame.
parent e3782bce
......@@ -641,9 +641,12 @@ namespace hpp {
for (hpp::model::ObjectVector_t::const_iterator it =
colObjects.begin (); it != colObjects.end (); it++) {
os << "name: " << (*it)->name () << "\\n";
os << "position in joint:" << "\\n";
const fcl::Transform3f& local ((*it)->positionInJointFrame ());
displayTransform3f (os, local); os << "\\n";
os << "position :" << "\\n";
const fcl::Transform3f& transform ((*it)->fcl ()->getTransform ());
displayTransform3f (os, transform);
const fcl::Transform3f& global ((*it)->fcl ()->getTransform ());
displayTransform3f (os, global);
}
} else {
os << "No body";
......
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