Merge pull request #24 from rivertam/update-versions

Update alga=0.9, k=0.15, kiss3d=0.20, nalgebra=0.18

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "urdf-viz"
-version = "0.15.0"
+version = "0.16.0"
 authors = ["Takashi Ogura <[email protected]>"]
 description = "URDF visualization"
 license = "Apache-2.0"
@@ -15,13 +15,13 @@ exclude = ["img/*", "ci/*"]
 default = ["assimp"]
 
 [dependencies]
-alga = "0.8.0"
+alga = "0.9.0"
 env_logger = "0.4.2"
 failure = "0.1"
-k = "0.14.0"
-kiss3d = "0.18.0"
+k = "0.15"
+kiss3d = "0.20.0"
 log = "0.3"
-nalgebra = "0.17.0"
+nalgebra = "0.18"
 rand = "0.3.0"
 serde = "1.0"
 serde_derive = "1.0"

src/lib.rs

@@ -42,7 +42,6 @@ extern crate rouille;
 extern crate serde_derive;
 extern crate urdf_rs;
 
-use alga::general::SubsetOf;
 use kiss3d::scene::SceneNode;
 use std::collections::HashMap;
 use std::path::Path;
@@ -379,12 +378,13 @@ impl Viewer {
     }
     pub fn update<T>(&mut self, robot: &k::Chain<T>)
     where
-        T: k::Real + alga::general::SubsetOf<f32>,
+        T: k::RealField + alga::general::SubsetOf<f32>,
     {
         robot.update_transforms();
         for link in robot.iter() {
             let trans = link.world_transform().unwrap();
             let link_name = &link.joint().name;
+            use alga::general::SubsetOf;
             let trans_f32: na::Isometry3<f32> = na::Isometry3::to_superset(&trans);
             match self.scenes.get_mut(link_name) {
                 Some(obj) => {