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Invert csys when transforming TCP in real time monitor

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Alvaro Capellan 2017-04-05 16:59:55 +02:00
parent be34be2812
commit 40bdb3671b
1 changed files with 1 additions and 1 deletions
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urx/urrtmon.py
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@ -171,7 +171,7 @@ class URRTMonitor(threading.Thread):
if self._csys: if self._csys:
with self._csys_lock: with self._csys_lock:
# might be a godd idea to remove dependancy on m3d # might be a godd idea to remove dependancy on m3d
tcp = self._csys * m3d.Transform(self._tcp) tcp = self._csys.inverse * m3d.Transform(self._tcp)
self._tcp = tcp.pose_vector self._tcp = tcp.pose_vector
if self._buffering: if self._buffering:
with self._buffer_lock: with self._buffer_lock: