From f6034338dc2b4565ea60f5ea98c7ac27c578dd3b Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Fri, 30 Sep 2011 04:39:50 +0000
Subject: [PATCH] git-svn-id: https://kforge.ros.org/fcl/fcl_ros@41
253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/include/fcl/motion.h | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/trunk/fcl/include/fcl/motion.h b/trunk/fcl/include/fcl/motion.h
index 0df7beaf..47a617e8 100644
--- a/trunk/fcl/include/fcl/motion.h
+++ b/trunk/fcl/include/fcl/motion.h
@@ -84,7 +84,9 @@ public:
if(dt > 1) dt = 1;
t.setQuatRotation(absoluteRotation(dt));
- t.setTranslation(p + axis * (dt * linear_vel) - t.getQuatRotation().transform(p));
+
+ SimpleQuaternion delta_rot = deltaRotation(dt);
+ t.setTranslation(p + axis * (dt * linear_vel) + delta_rot.transform(t1.getTranslation() - p));
return true;
}
--
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