From 97f121273579c9dba6a09146b3f689f7b26354ca Mon Sep 17 00:00:00 2001
From: Ellis Ratner <eratner@bowdoin.edu>
Date: Sun, 18 Aug 2013 19:37:24 -0400
Subject: [PATCH] Fixed a bug in inverting a transform in the interactive
 marker handle.

---
 src/interactivemarkers/InteractiveMarkerHandle.js | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/interactivemarkers/InteractiveMarkerHandle.js b/src/interactivemarkers/InteractiveMarkerHandle.js
index 9bf2beb0..20227926 100644
--- a/src/interactivemarkers/InteractiveMarkerHandle.js
+++ b/src/interactivemarkers/InteractiveMarkerHandle.js
@@ -82,6 +82,10 @@ ROS3D.InteractiveMarkerHandle.prototype.setPoseFromClient = function(event) {
   this.pose = new ROSLIB.Pose(event);
   var inv = this.tfTransform.clone();
   inv.rotation.invert();
+  inv.translation.multiplyQuaternion(inv.rotation);
+  inv.translation.x *= -1;
+  inv.translation.y *= -1;
+  inv.translation.z *= -1;
   this.pose.applyTransform(inv);
 
   // send feedback to the server