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[Fix #321] Remove unsupported axis orders of EulerJoint #323

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merged 1 commit into from
Jan 29, 2015
Merged

[Fix #321] Remove unsupported axis orders of EulerJoint #323

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10 changes: 0 additions & 10 deletions dart/dynamics/EulerJoint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,21 +84,11 @@ void EulerJoint::updateDegreeOfFreedomNames()
affixes.push_back("_y");
affixes.push_back("_x");
break;
case AO_ZYZ:
affixes.push_back("_z");
affixes.push_back("_y");
affixes.push_back("_z");
break;
case AO_XYZ:
affixes.push_back("_x");
affixes.push_back("_y");
affixes.push_back("_z");
break;
case AO_ZXY:
affixes.push_back("_z");
affixes.push_back("_x");
affixes.push_back("_y");
break;
default:
dterr << "Unsupported axis order in EulerJoint named '" << mName
<< "' (" << mAxisOrder << ")\n";
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9 changes: 4 additions & 5 deletions dart/dynamics/EulerJoint.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,9 +52,7 @@ class EulerJoint : public MultiDofJoint<3>
enum AxisOrder
{
AO_ZYX = 0,
AO_ZYZ = 1,
AO_XYZ = 2,
AO_ZXY = 3
AO_XYZ = 1
};

/// Constructor
Expand All @@ -63,12 +61,13 @@ class EulerJoint : public MultiDofJoint<3>
/// Destructor
virtual ~EulerJoint();

/// \brief Set the axis order
/// Set the axis order
/// \param[in] _order Axis order
/// \param[in] _renameDofs If true, the names of dofs in this joint will be
/// renmaed according to the axis order.
void setAxisOrder(AxisOrder _order, bool _renameDofs = true);

///
/// Return the axis order
AxisOrder getAxisOrder() const;

protected:
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