move comment

jsupratman13 · jsupratman13 · commit 83d411cf8268 · 2025-12-05T13:43:26.000+09:00
diff --git a/moveit_core/robot_model/src/planar_joint_model.cpp b/moveit_core/robot_model/src/planar_joint_model.cpp
@@ -355,10 +355,10 @@ void PlanarJointModel::computeVariablePositions(const Eigen::Isometry3d& transf,
 
   ASSERT_ISOMETRY(transf)  // unsanitized input, could contain a non-isometry
   Eigen::Quaterniond q(transf.linear());
-  // taken from Bullet
   if (q.w() < 0.0) {
     q.coeffs() *= -1.0;
   }
+  // taken from Bullet
   double s_squared = 1.0 - (q.w() * q.w());
   if (s_squared < 10.0 * std::numeric_limits<double>::epsilon())
   {

Original file line number	Diff line number	Diff line change
`@@ -355,10 +355,10 @@ void PlanarJointModel::computeVariablePositions(const Eigen::Isometry3d& transf,`
`355`	`355`
`356`	`356`	`ASSERT_ISOMETRY(transf) // unsanitized input, could contain a non-isometry`
`357`	`357`	`Eigen::Quaterniond q(transf.linear());`
`358`		`- // taken from Bullet`
`359`	`358`	`if (q.w() < 0.0) {`
`360`	`359`	`q.coeffs() *= -1.0;`
`361`	`360`	`}`
	`361`	`+ // taken from Bullet`
`362`	`362`	`double s_squared = 1.0 - (q.w() * q.w());`
`363`	`363`	`if (s_squared < 10.0 * std::numeric_limits<double>::epsilon())`
`364`	`364`	`{`