getChain in tree.cpp (KDL)

Submitted by wouterbancken on Wed, 2012-08-22 10:56

Dear developers,

In respect to bug 981 I was wondering why getChain() in tree.cpp, always
excludes the chain_root segment. Shouldn't there be a possibility to
include the chain_root segment? Without this option it is impossible to
retrieve chains starting at a leaf segment.

My suggestion would to create both a method that includes and a method
that excludes the chain_root segment.

What is your opinion?

Best regards,
Wouter Bancken

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getChain in tree.cpp (KDL)

Submitted by Dominick Vanthienen on Wed, 2012-08-22 11:20.

On 08/22/2012 12:56 PM, Wouter Bancken wrote:
> Dear developers,
>
> In respect to bug 981 I was wondering why getChain() in tree.cpp, always
> excludes the chain_root segment. Shouldn't there be a possibility to
> include the chain_root segment? Without this option it is impossible to
> retrieve chains starting at a leaf segment.
>
> My suggestion would to create both a method that includes and a method
> that excludes the chain_root segment.
+1
>
> What is your opinion?
>
> Best regards,
> Wouter Bancken
>

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