KDL::Joint initialization with TransAxis

[canalteks]

dear developers, we found following problem (but may not explicit bug) to initialize KDL::Joint with TransAxis. we hope it could be help.

• Joint::Joint( name, origin, axis, ...) or Joint::Joint( origin, axis, ... ) initialize KDL::Joint with JointType.
• above constructors initialize joint_pose.M = Rotation::Rot2( axis, offset ). that means joint axis will be rotated even if JointType == TransAxis.
• but if JointType == TransAxis, we think that joint_pose.M should be Rotation::Identity().
• when computing Joint::pose(), joint_pose.M variable was not used for TransAxis and it does no effect. so that, we cannot see it as an explicit bug.

thanks.

[MatthijsBurgh]

I didn't write this code, but I think this was just to not have many if/else cases. And as it isn't used, it doesn't matter. But this code is removed in https://github.com/orocos/orocos_kinematics_dynamics/pull/399. So there isn't any question anymore.

[canalteks]

@MatthijsBurgh , thank you so much.