PyDHParameter() : parentindex(-1), transform(ReturnTransform(Transform())), d(0), a(0), theta(0), alpha(0) { }
PyDHParameter(const OpenRAVE::planningutils::DHParameter& p, PyEnvironmentBasePtr pyenv) : joint(toPyKinBodyJoint(boost::const_pointer_cast<KinBody::Joint>(p.joint), pyenv)), parentindex(p.parentindex), transform(ReturnTransform(p.transform)), d(p.d), a(p.a), theta(p.theta), alpha(p.alpha) { }
object GetCameraTransform() { return ReturnTransform(_pviewer->GetCameraTransform()); }