various fixed for itasc to compile and work

airballking · Nov 30, 2011 · 1528cef · 1528cef
1 parent d917dfd
commit 1528cef
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Showing 5 changed files with 6 additions and 4 deletions.
diff --git a/feature_constraints/include/feature_constraints/Controller.h b/feature_constraints/include/feature_constraints/Controller.h
@@ -78,7 +78,7 @@ class Controller
 
 
 //! Analyze interaction matrix.
-void analyzeH(PinvData& tmpdata, KDL::Jacobian Ht, KDL::Jacobian& J,
+void analyzeH(PinvData& tmpdata, KDL::Jacobian& Ht, KDL::Jacobian& J,
 		      KDL::JntArray& singularValues, double eps=1e-15);
 
 //! Do range-based control.

diff --git a/feature_constraints/src/Controller.cpp b/feature_constraints/src/Controller.cpp
@@ -113,7 +113,7 @@ void PinvData::resize(int size)
 }
 
 
-void analyzeH(PinvData& tmp, KDL::Jacobian& Ht, KDL::Jacobian& J, KDL::JntArray& singularValues, double eps=1e-15)
+void analyzeH(PinvData& tmp, KDL::Jacobian& Ht, KDL::Jacobian& J, KDL::JntArray& singularValues, double eps)
 {
   VectorXd& S = singularValues.data;
 

diff --git a/motion_viz/jac_chain_viz.py b/motion_viz/jac_chain_viz.py
@@ -16,7 +16,8 @@
 from std_msgs.msg import ColorRGBA, Float64MultiArray, Int8
 from visualization_msgs.msg import Marker, MarkerArray
 from geometry_msgs.msg import Pose,PoseStamped, Point, Quaternion, Vector3, Twist
-from motion_viz.msg import Jacobian, ConstraintCommand
+from motion_viz.msg import Jacobian
+from constraint_msgs.msg import ConstraintCommand
 
 
 import marker

diff --git a/motion_viz/manifest.xml b/motion_viz/manifest.xml
@@ -6,6 +6,7 @@
   <license>BSD</license>
   <review status="unreviewed" notes=""/>
   <depend package="geometry_msgs"/>
+  <depend package="constraint_msgs"/>
   <depend package="visualization_msgs"/>
   <depend package="rospy"/>
   <depend package="kdl"/>

diff --git a/rtt_motion_viz/CMakeLists.txt b/rtt_motion_viz/CMakeLists.txt
@@ -4,6 +4,6 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 set(ROS_BUILD_TYPE RelWithDebInfo)
 
 rosbuild_init()
-rosbuild_include(rtt_ros_integration GenerateRTTtypekit)
+rosbuild_include(rtt_rosnode GenerateRTTtypekit)
 ros_generate_rtt_typekit(motion_viz)
-Original file line number
+Diff line change
@@ Expand Up / @@ -113,7 +113,7 @@ void PinvData::resize(int size) @@
     }
-    void analyzeH(PinvData& tmp, KDL::Jacobian& Ht, KDL::Jacobian& J, KDL::JntArray& singularValues, double eps=1e-15)
+    void analyzeH(PinvData& tmp, KDL::Jacobian& Ht, KDL::Jacobian& J, KDL::JntArray& singularValues, double eps)
     {
       VectorXd& S = singularValues.data;
@@ Expand Down @@