From c65ce9679a9bf3ec06ce4d0c8c3249718f752312 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 10 Jun 2016 18:01:33 +0200
Subject: [PATCH] getOrientation return a const reference
---
include/hpp/fcl/BV/BV_node.h | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/include/hpp/fcl/BV/BV_node.h b/include/hpp/fcl/BV/BV_node.h
index fc70c99a..eb2c759c 100644
--- a/include/hpp/fcl/BV/BV_node.h
+++ b/include/hpp/fcl/BV/BV_node.h
@@ -105,23 +105,23 @@ struct BVNode : public BVNodeBase
Vec3f getCenter() const { return bv.center(); }
/// @brief Access the orientation of the BV
- Matrix3f getOrientation() const { return Matrix3f::Identity(); }
+ const Matrix3f& getOrientation() const { return Matrix3f::Identity(); }
};
template<>
-inline Matrix3f BVNode<OBB>::getOrientation() const
+inline const Matrix3f& BVNode<OBB>::getOrientation() const
{
return bv.axes;
}
template<>
-inline Matrix3f BVNode<RSS>::getOrientation() const
+inline const Matrix3f& BVNode<RSS>::getOrientation() const
{
return bv.axes;
}
template<>
-inline Matrix3f BVNode<OBBRSS>::getOrientation() const
+inline const Matrix3f& BVNode<OBBRSS>::getOrientation() const
{
return bv.obb.axes;
}
--
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