pass the event of base relative motion up

Author: Kevin Harrington

build.gradle

@@ -9,14 +9,15 @@ File buildDir = file(".");
 
 Properties props = new Properties()
 props.load(new FileInputStream(buildDir.getAbsolutePath()+"/src/main/resources/com/neuronrobotics/sdk/config/build.properties"))
-sourceSets {
-	
-	test {
-		java {
-			srcDirs = ["test/java/src","examples/java/src" ]  // Note @Peter's comment below
-		}
-	}
-}
+//sourceSets {
+//	
+//	test {
+//		java {
+//			srcDirs = ["test/java/src" ]  // Note @Peter's comment below
+//		}
+//	}
+//}
+
 manifest {
     attributes(	
     			"Manifest-Version": "1.0",

src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java

@@ -853,27 +853,7 @@ public void setFiducialToGlobalTransform(TransformNR globe) {
 		setGlobalToFiducialTransform(globe);
 	}
 
-	/**
-	 * Sets the global to fiducial transform.
-	 *
-	 * @param frameToBase the new global to fiducial transform
-	 */
-	@Override
-	public void setGlobalToFiducialTransform(TransformNR frameToBase) {
-		super.setGlobalToFiducialTransform(frameToBase);
-		fireBaseUpdates();
-	}
-	
-	/**
-	 * Sets the global to fiducial transform.
-	 *
-	 * @param frameToBase the new global to fiducial transform
-	 */
-	@Override	
-	public void setRobotToFiducialTransform(TransformNR baseToFiducial)  {
-		super.setRobotToFiducialTransform( baseToFiducial);
-		fireBaseUpdates();
-	}
+
 
 	private void fireBaseUpdates() {
 		TransformNR frameToBase = forwardOffset(new TransformNR());