src/libYARP_robot/eurobot/yarp/YARPEurobotHeadKin.cpp
void YARPEurobotHeadKin::computeDirect (const YVector &joints)
{
	ACE_ASSERT (joints.Length() == 5); 

	// the joint vector is devided into right and left
	// I *KNOW* this is awful because doesn't use n_ref_frame
	_leftJoints(1) = joints(1);
	_leftJoints(2) = joints(2);
	_leftJoints(3) = joints(3);
	_leftJoints(4) = joints(5);

	_rightJoints(1) = joints(1);
	_rightJoints(2) = joints(2);
	_rightJoints(3) = joints(3);
	_rightJoints(4) = joints(4);

	_leftCamera.computeDirect (_leftJoints);
	_rightCamera.computeDirect (_rightJoints);

	_computeFixation (_rightCamera.endFrame(), _leftCamera.endFrame());
}
/// <joints is a 5 dim vector>
/// since this file is for the Babybot's head, I can asser if Size is different.

since this file is for the Babybot's head, I can asser if Size is different.
since this file is for the Babybot ' s head I can asser if Size is different .
void YARPEurobotHeadKin::computeDirect (const YVector &joints)
{
	ACE_ASSERT (joints.Length() == 5); 
	_leftJoints(1) = joints(1);
	_leftJoints(2) = joints(2);
	_leftJoints(3) = joints(3);
	_leftJoints(4) = joints(5);
	_rightJoints(1) = joints(1);
	_rightJoints(2) = joints(2);
	_rightJoints(3) = joints(3);
	_rightJoints(4) = joints(4);
	_leftCamera.computeDirect (_leftJoints);
	_rightCamera.computeDirect (_rightJoints);
	_computeFixation (_rightCamera.endFrame(), _leftCamera.endFrame());
}
void YARPEurobotHeadKin :: computeDirect ( const YVector & joints ) { ACE_ASSERT ( joints . Length ( ) == 5 ) ; _leftJoints ( 1 ) = joints ( 1 ) ; _leftJoints ( 2 ) = joints ( 2 ) ; _leftJoints ( 3 ) = joints ( 3 ) ; _leftJoints ( 4 ) = joints ( 5 ) ; _rightJoints ( 1 ) = joints ( 1 ) ; _rightJoints ( 2 ) = joints ( 2 ) ; _rightJoints ( 3 ) = joints ( 3 ) ; _rightJoints ( 4 ) = joints ( 4 ) ; _leftCamera . computeDirect ( _leftJoints ) ; _rightCamera . computeDirect ( _rightJoints ) ; _computeFixation ( _rightCamera . endFrame ( ) , _leftCamera . endFrame ( ) ) ; }
<joints is a 5 dim vector>
since this file is for the Babybot's head, I can asser if Size is different.
<joints is a 5 dim vector > since this file is for the Babybot ' s head I can asser if Size is different .
// the joint vector is devided into right and left // I *KNOW* this is awful because doesn't use n_ref_frame