Bug fixed in SceneNode

CHANGELOG

@@ -1,4 +1,5 @@
 DEVEL - **r4**
+* Initial pose now set in SceneNode (rctoris)
 
 2013-04-03 - **r3**
 * ColladaLoader2 added as third-party module (rctoris)

build/ros3d.js

@@ -1958,25 +1958,41 @@ ROS3D.SceneNode = function(options) {
   // add the model
   this.add(object);
 
+  // set the inital pose
+  this.updatePose(this.pose);
+
   // listen for TF updates
-  tfClient.subscribe(frameID,
-      function(msg) {
-        // apply the transform
-        var tf = new ROSLIB.Transform(msg);
-        var poseTransformed = new ROSLIB.Pose(that.pose);
-        poseTransformed.applyTransform(tf);
-
-        // update the world
-        that.position.x = poseTransformed.position.x;
-        that.position.y = poseTransformed.position.y;
-        that.position.z = poseTransformed.position.z;
-        that.quaternion = new THREE.Quaternion(poseTransformed.orientation.x,
-            poseTransformed.orientation.y, poseTransformed.orientation.z,
-            poseTransformed.orientation.w);
-        that.updateMatrixWorld(true);
-      });
+  tfClient.subscribe(frameID, function(msg) {
+    if (that.TMP !== '/base_link') {
+      console.log(msg);
+      console.log(that.TMP);
+    }
+
+    // apply the transform
+    var tf = new ROSLIB.Transform(msg);
+    var poseTransformed = new ROSLIB.Pose(that.pose);
+    poseTransformed.applyTransform(tf);
+
+    // update the world
+    that.updatePose(poseTransformed);
+  });
 };
-ROS3D.SceneNode.prototype.__proto__ = THREE.Object3D.prototype;/**
+ROS3D.SceneNode.prototype.__proto__ = THREE.Object3D.prototype;
+
+/**
+ * Set the pose of the associated model.
+ * 
+ * @param pose - the pose to update with
+ */
+ROS3D.SceneNode.prototype.updatePose = function(pose) {
+  this.position.x = pose.position.x;
+  this.position.y = pose.position.y;
+  this.position.z = pose.position.z;
+  this.quaternion = new THREE.Quaternion(pose.orientation.x, pose.orientation.y,
+      pose.orientation.z, pose.orientation.w);
+  this.updateMatrixWorld(true);
+};
+/**
  * @author David Gossow - [email protected]
  * @author Russell Toris - [email protected]
  * @author Jihoon Lee - [email protected]

src/visualization/SceneNode.js

@@ -27,22 +27,37 @@ ROS3D.SceneNode = function(options) {
   // add the model
   this.add(object);
 
+  // set the inital pose
+  this.updatePose(this.pose);
+
   // listen for TF updates
-  tfClient.subscribe(frameID,
-      function(msg) {
-        // apply the transform
-        var tf = new ROSLIB.Transform(msg);
-        var poseTransformed = new ROSLIB.Pose(that.pose);
-        poseTransformed.applyTransform(tf);
-
-        // update the world
-        that.position.x = poseTransformed.position.x;
-        that.position.y = poseTransformed.position.y;
-        that.position.z = poseTransformed.position.z;
-        that.quaternion = new THREE.Quaternion(poseTransformed.orientation.x,
-            poseTransformed.orientation.y, poseTransformed.orientation.z,
-            poseTransformed.orientation.w);
-        that.updateMatrixWorld(true);
-      });
+  tfClient.subscribe(frameID, function(msg) {
+    if (that.TMP !== '/base_link') {
+      console.log(msg);
+      console.log(that.TMP);
+    }
+
+    // apply the transform
+    var tf = new ROSLIB.Transform(msg);
+    var poseTransformed = new ROSLIB.Pose(that.pose);
+    poseTransformed.applyTransform(tf);
+
+    // update the world
+    that.updatePose(poseTransformed);
+  });
+};
+ROS3D.SceneNode.prototype.__proto__ = THREE.Object3D.prototype;
+
+/**
+ * Set the pose of the associated model.
+ * 
+ * @param pose - the pose to update with
+ */
+ROS3D.SceneNode.prototype.updatePose = function(pose) {
+  this.position.x = pose.position.x;
+  this.position.y = pose.position.y;
+  this.position.z = pose.position.z;
+  this.quaternion = new THREE.Quaternion(pose.orientation.x, pose.orientation.y,
+      pose.orientation.z, pose.orientation.w);
+  this.updateMatrixWorld(true);
 };
-ROS3D.SceneNode.prototype.__proto__ = THREE.Object3D.prototype;