http://bugs.orocos.org/show_bug.cgi?id=920

Summary: KDL typekit does not allow to load a KDL.RPY property
Product: KDL
Version: unspecified
Platform: All
OS/Version: All
Status: NEW
Severity: enhancement
Priority: P3
Component: Plugin
AssignedTo: orocos-dev [..] ...
ReportedBy: steven [dot] bellens [..] ...
CC: orocos-dev [..] ...
Estimated Hours: 0.0

With the current typekit and master version of RTT, I cannot load a pure
KDL.RPY property:

[ ERROR ][PropertyLoader:load] Could not compose unknown type 'KDL.RPY'.

With the property in the cpf file:

<struct name="qf_to_f" type="KDL.RPY">
<description>Feature rotation<description>
<simple name="R" type="double"><description>First rotate around X with R(oll)
in radians<description><value>0.1<value><simple>
<simple name="P" type="double"><description>Next rotate around old Y with
P(itch) in radians<description><value>0.2<value><simple>
<simple name="Y" type="double"><description>Next rotate around old Z with
Y(aw) in radians<description><value>0.3<value><simple>
<struct>

A KDL.Frame property, which in turn contains a KDL.RPY part however, loads
fine.

I tried to update the kdl typekit in order to extend the KDL.Rotation with
KDL.RPY and KDL.EulerZYX (in kdlTypekitRotation.cpp), but only one of the types
is loadable afterwards (cfr typekit infrastructure problems?)