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iTaSC: joint limit are now given directly in radiant, no need to convert.

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This commit is contained in:
Benoit Bolsee
2010-03-09 22:44:03 +00:00
parent 4c8dab48c5
commit a999e24a14
1 changed files with 0 additions and 5 deletions
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5
intern/itasc/Armature.cpp
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@@ -340,11 +340,6 @@ int Armature::addLimitConstraint(const std::string& segment_name, unsigned int d
}
if ((joint.getNDof() == 1 && dof > 0) || (joint.getNDof() == 2 && dof > 1))
return -1;
if (joint.getType() < Joint::TransX || joint.getType() == Joint::Swing) {
// for rotation joint, the limit is given in degree, convert to radian
_min *= KDL::deg2rad;
_max *= KDL::deg2rad;
}
Joint_struct& p_joint = m_joints[segment_it->second.q_nr+dof];
p_joint.min = _min;
p_joint.max = _max;