RobotNodePtr RobotNodeFixed::_clone(const RobotPtr newRobot, const VisualizationNodePtr visualizationModel, const CollisionModelPtr collisionModel, CollisionCheckerPtr colChecker, float scaling)
{
ReadLockPtr lock = getRobot()->getReadLock();
RobotNodePtr result;
Physics p = physics.scale(scaling);
if (optionalDHParameter.isSet)
{
result.reset(new RobotNodeFixed(newRobot,name,optionalDHParameter.aMM()*scaling,optionalDHParameter.dMM()*scaling, optionalDHParameter.alphaRadian(), optionalDHParameter.thetaRadian(),visualizationModel,collisionModel,p,colChecker,nodeType));
} else
{
Eigen::Matrix4f lt = getLocalTransformation();
lt.block(0,3,3,1) *= scaling;
result.reset(new RobotNodeFixed(newRobot,name,lt,visualizationModel,collisionModel,p,colChecker,nodeType));
}
return result;
}
