Merge pull request #81 from snozawa/add_outport_waist

Add outport for root link actual pos and rot.
fkanehiro · Sep 30, 2015 · c4d14e7 · c4d14e7
2 parents 6e31203 + 7da2aa9
commit c4d14e7
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/server/ModelLoader/projectGenerator.cpp b/server/ModelLoader/projectGenerator.cpp
@@ -445,6 +445,7 @@ int main (int argc, char** argv)
 	xmlTextWriterWriteProperty(writer, "outport", "q:JOINT_VALUE");
     xmlTextWriterWriteProperty(writer, "outport", "dq:JOINT_VELOCITY");
     xmlTextWriterWriteProperty(writer, "outport", "tau:JOINT_TORQUE");
+    xmlTextWriterWriteProperty(writer, "outport", body->rootLink()->name+":"+body->rootLink()->name+":ABS_TRANSFORM");
 
     // set outport for sensros
     int nforce = body->numSensors(hrp::Sensor::FORCE);