done

On Mar 24, 2014, at 11:28 AM, Andres Valenzuela <notifications@github.com> wrote:

> In systems/plants/@RigidBodyManipulator/changeRootLink.m:
> 
> > +    current_body.floating = old_child_new_parent_body.floating;
> > +
> > +    X_old_body_to_new_body = inv(old_child_new_parent_body.Xtree);
> > +    T_old_body_to_new_body = inv(old_child_new_parent_body.Ttree); 
> > +    if (grandparent_ind == 0) % then my parent is the root
> > +      current_body.Xtree = inv(Xrotx(rpy(1))*Xroty(rpy(2))*Xrotz(rpy(3))*Xtrans(xyz));
> > +      current_body.Ttree = inv([rotz(rpy(3))*roty(rpy(2))*rotx(rpy(1)),xyz; 0,0,0,1]); 
> > +    else
> > +      grandparent_old_body = getBody(rbm,grandparent_ind);
> > +      current_body.Xtree = inv(grandparent_old_body.Xtree);
> > +      current_body.Ttree = inv(grandparent_old_body.Ttree);
> > +    end
> > +    
> > +    % note: flip joint axis here to keep the joint direction the same (and
> > +    % avoid flipping joint limits, etc)
> > +    current_body.joint_axis = T_old_body_to_new_body(1:3,1:3) * [-old_child_new_parent_body.joint_axis];
> mlint suggests changing line 82 to
> 
> current_body.joint_axis = T_old_body_to_new_body(1:3,1:3) * (-old_child_new_parent_body.joint_axis);
> —
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