From 98b46d8d90f190d3fd8bafa720205f1cdf435a4b Mon Sep 17 00:00:00 2001
From: Ben Berman <ben.m.berman@gmail.com>
Date: Mon, 10 Jun 2019 20:26:08 -0400
Subject: [PATCH] Update many versions

---
 Cargo.toml | 10 +++++-----
 src/lib.rs |  4 ++--
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 2bc1b6d..85a8b95 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "urdf-viz"
-version = "0.15.0"
+version = "0.16.0"
 authors = ["Takashi Ogura <t.ogura@gmail.com>"]
 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"
diff --git a/src/lib.rs b/src/lib.rs
index 3237c1b..ed9ab3d 100644
--- a/src/lib.rs
+++ b/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) => {