From f373eca92bb650acc813e58f0726f4210e9e642f Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Thu, 28 Mar 2019 16:02:18 +0100 Subject: [PATCH] adding changed d parameter of next element to output --- src/calibration.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/calibration.cpp b/src/calibration.cpp index d1e7dc9..24844b0 100644 --- a/src/calibration.cpp +++ b/src/calibration.cpp @@ -135,6 +135,7 @@ void Calibration::correctAxis(const size_t link_index) // Correct next joint // ROS_INFO_STREAM("Second Next old:\n" << chain_[2 * link_index + 2]); chain_[2 * link_index + 2](2, 3) -= distance_correction; + robot_parameters_corrected_.segments_[link_index+1].d_ -= distance_correction; // ROS_INFO_STREAM("Second Next new:\n" << chain_[2 * link_index + 2]); }