RobWork trunk

[Lars-Peter Ellekilde]

Hello All
Updates from the branch "KinematicsJointRefactoringSpring2009" have by
mistake been committed to trunk. You should therefore be aware that
some of the content in the kinematics and models packages might be new
and not thoroughly tested.

As there have been other commits to trunk since the error it is not
easy to reverse it without loosing the other updates. We will try to
review and update the newly added content as quickly as possible.
Until then you should be a little careful about updating from trunk.

Best regards
Lars-Peter

[jimali]

Hi,

I may have found a relatively important bug related to the
refactoring of the joint structure.

The function getActiveJoint on JointDevice does not work as it used
to. In the old code you would use getActiveJoint in combination with
getDOF since active joints where 1 dof only. This however is not the
case anymore since both 0 dof and multi dof active joints are
possible. I think the best thing to do is to remove the getActiveJoint
function and use the getJoints function instead.

Note: this bug only affects thoose that use robots with dependent
joints. Which probably only I do ;)

Cheers jim