Commit c89e5ade authored by florent's avatar florent
Browse files

Add access to CkwsJoint base class in Joint

    * src/freeflyer-joint.hh,
    * src/joint.hh,
    * src/rotation-joint.hh,
    * src/translation-joint.hh.
parent a401bc94
......@@ -64,6 +64,11 @@ namespace hpp {
inOutPropertyVector.push_back(inertiaMatrixYZ);
}
virtual CkwsJointShPtr kwsJoint() const
{
return CkppJointComponent::kwsJoint();
}
protected:
FreeflyerJoint() : CkppFreeFlyerJointComponent() {}
ktStatus init (const FreeflyerJointWkPtr &inWeakPtr,
......
......@@ -9,6 +9,7 @@
#include <KineoModel/kppProperty.h>
KIT_PREDEF_CLASS(CkppDoubleProperty);
KIT_PREDEF_CLASS(CkwsJoint);
namespace hpp {
namespace core {
......@@ -17,6 +18,7 @@ namespace hpp {
class Joint
{
public:
virtual CkwsJointShPtr kwsJoint() const = 0;
// Mass
static const CkppProperty::TPropertyID MASS_ID;
static const std::string MASS_STRING_ID;
......
......@@ -64,6 +64,11 @@ namespace hpp {
inOutPropertyVector.push_back(inertiaMatrixYZ);
}
virtual CkwsJointShPtr kwsJoint() const
{
return CkppJointComponent::kwsJoint();
}
protected:
RotationJoint() : CkppRotationJointComponent() {}
ktStatus init (const RotationJointWkPtr &inWeakPtr,
......
......@@ -64,6 +64,11 @@ namespace hpp {
inOutPropertyVector.push_back(inertiaMatrixYZ);
}
virtual CkwsJointShPtr kwsJoint() const
{
return CkppJointComponent::kwsJoint();
}
protected:
TranslationJoint() : CkppTranslationJointComponent() {}
ktStatus init (const TranslationJointWkPtr &inWeakPtr,
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment