KDL doing magic stuff

[MatthijsBurgh]

Not working in amigo-console and in rosrun

robot.base.get_location().frame.p
[           0,     4.14262,           0]

location = robot.base.get_location()
location.frame.p
[     1.36757,     4.14262,           0]

frame = robot.base.get_location().frame
frame.p
[     1.36757,     4.14262,           0]

p = robot.base.get_location().frame.p
p
[           0,     4.14262,           0]

robot.base.get_location().extractVectorStamped()
[           0,     4.14262,           0] @ /map

VS = robot.base.get_location().extractVectorStamped()
VS
[           0,     4.14262,           0] @ /map

location = robot.base.get_location()
location.extractVectorStamped()
[     1.36757,     4.14262,           0] @ /map

VS = location.extractVectorStamped()
VS
[     1.36757,     4.14262,           0] @ /map

fs = kdl_conversions.FrameStamped(kdl.Frame(kdl.Rotation.Quaternion(1, 0, 0, 0), kdl.Vector(1, 2, 3)), "/map")
fs.extractVectorStamped()
[           1,           2,           3] @ /map

[LoyVanBeek]

What's funny is that only the x value is acting weird.

I'm suspecting some pointed-at values getting lost or a simple conversion issue

[MatthijsBurgh]

extractVectorStamped() can be fixed by using return deepcopy(XXX)

[MatthijsBurgh]

import PyKDL as kdl
rot = kdl.Rotation.Quaternion(1, 0, 0, 0)
trans = kdl.Vector(1, 2, 3)
frame=kdl.Frame(rot, trans)
print "\nframe.p"
print frame.p
print "\nkdl.Frame(frame)"
print kdl.Frame(frame)
print "\nkdl.Frame(frame).p"
print kdl.Frame(frame).p

This shows the real fault. No code from us at all. So It has to be a bug in PyKDL

[MatthijsBurgh]

Issue is already known:
orocos/orocos_kinematics_dynamics#41

[MatthijsBurgh]

Also solved by building PyKDL from source.