Obbart/universal_robots_ros_driver
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use double precision in output of kinematics info

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This commit is contained in:
Felix Mauch
2019-05-28 11:26:27 +02:00
parent 157b5a696c
commit a61788f694
1 changed files with 6 additions and 4 deletions
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10
ur_rtde_driver/src/primary/robot_state/kinematics_info.cpp
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@@ -15,6 +15,8 @@
#include "ur_rtde_driver/log.h" #include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/primary/robot_state/kinematics_info.h" #include "ur_rtde_driver/primary/robot_state/kinematics_info.h"
#include <iomanip>
namespace ur_driver namespace ur_driver
{ {
namespace primary_interface namespace primary_interface
@@ -43,28 +45,28 @@ std::string KinematicsInfo::toString() const
os << "dh_theta: ["; os << "dh_theta: [";
for (size_t i = 0; i < dh_theta_.size(); ++i) for (size_t i = 0; i < dh_theta_.size(); ++i)
{ {
os << dh_theta_[i] << " "; os << std::setprecision(15) << dh_theta_[i] << " ";
} }
os << "]" << std::endl; os << "]" << std::endl;
os << "dh_a: ["; os << "dh_a: [";
for (size_t i = 0; i < dh_a_.size(); ++i) for (size_t i = 0; i < dh_a_.size(); ++i)
{ {
os << dh_a_[i] << " "; os << std::setprecision(15) << dh_a_[i] << " ";
} }
os << "]" << std::endl; os << "]" << std::endl;
os << "dh_d: ["; os << "dh_d: [";
for (size_t i = 0; i < dh_d_.size(); ++i) for (size_t i = 0; i < dh_d_.size(); ++i)
{ {
os << dh_d_[i] << " "; os << std::setprecision(15) << dh_d_[i] << " ";
} }
os << "]" << std::endl; os << "]" << std::endl;
os << "dh_alpha: ["; os << "dh_alpha: [";
for (size_t i = 0; i < dh_alpha_.size(); ++i) for (size_t i = 0; i < dh_alpha_.size(); ++i)
{ {
os << dh_alpha_[i] << " "; os << std::setprecision(15) << dh_alpha_[i] << " ";
} }
os << "]" << std::endl; os << "]" << std::endl;