Exemple #1
0
//==============================================================================
void FreeJoint::setTransform(Joint* joint,
                             const Eigen::Isometry3d& tf,
                             const Frame* withRespectTo)
{
  if (nullptr == joint)
    return;

  FreeJoint* freeJoint = dynamic_cast<FreeJoint*>(joint);

  if (nullptr == freeJoint)
  {
    dtwarn << "[FreeJoint::setTransform] Invalid joint type. Setting transform "
           << "is only allowed to FreeJoint. The joint type of given joint ["
           << joint->getName() << "] is [" << joint->getType() << "].\n";
    return;
  }

  freeJoint->setTransform(tf, withRespectTo);
}