From 735c7d1c4bf9be1d3480a923e71f33832b37de7a Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Wed, 8 May 2019 14:31:08 +0900 Subject: [PATCH] [jvrc-statenet.l] fix :pitch-roll --- .../euslisp/action_and_perception/jvrc-statenet.l | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/jvrc-statenet.l b/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/jvrc-statenet.l index 3f8158b2..0a8a1de2 100644 --- a/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/jvrc-statenet.l +++ b/hrpsys_choreonoid_tutorials/euslisp/action_and_perception/jvrc-statenet.l @@ -49,12 +49,11 @@ (map float-vector #'(lambda (a b) (* a b)) vec w))) vec)) (:norm () (norm (send self :vector))) -#| (:pitch-roll () (let ((rpyangles (car (rpy-angle (send coords :rot))))) - (float-vector (elt rpyangles 1) (elt rpyangles 2)) + (float-vector (- (elt rpyangles 1)) (elt rpyangles 2)) )) -|# + #| (:pitch-roll () (let* ((z #f(0 0 1)) (y #f(0 1 0)) @@ -73,6 +72,7 @@ (v. z ly) ) )) + |# ;; (:posture-distance (state) (norm (v- (send state :posture) (send self :posture))))