load baseToZframe as RobotToFiducialTransform

madhephaestus · madhephaestus · commit af5019e57655 · 2022-09-17T14:32:25.000-04:00
diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java
@@ -252,6 +252,9 @@ private void loadConfigs(Element doc) {
 		TransformNR IMUcenter = loadTransform("imuFromCentroid", doc);
 		if (IMUcenter != null)
 			setIMUFromCentroid(IMUcenter);
+		TransformNR baseToZframe = loadTransform("baseToZframe", doc);
+		setRobotToFiducialTransform(baseToZframe);
+		
 		fireBaseUpdates();
 	}
 

Original file line number	Diff line number	Diff line change
`@@ -252,6 +252,9 @@ private void loadConfigs(Element doc) {`
`252`	`252`	`TransformNR IMUcenter = loadTransform("imuFromCentroid", doc);`
`253`	`253`	`if (IMUcenter != null)`
`254`	`254`	`setIMUFromCentroid(IMUcenter);`
	`255`	`+ TransformNR baseToZframe = loadTransform("baseToZframe", doc);`
	`256`	`+ setRobotToFiducialTransform(baseToZframe);`
	`257`	`+`
`255`	`258`	`fireBaseUpdates();`
`256`	`259`	`}`
`257`	`260`