From 2c6440bd19a8e3beb31197dff30dbaf935fa42df Mon Sep 17 00:00:00 2001
From: Mathieu Geisert <mgeisert@laas.fr>
Date: Thu, 26 Jun 2014 17:57:29 +0200
Subject: [PATCH] Add function getDeviceNames in robot to get the names of
robots and object in the same order than in the configuration.
---
include/hpp/manipulation/robot.hh | 18 +++++++++++++++++-
1 file changed, 17 insertions(+), 1 deletion(-)
diff --git a/include/hpp/manipulation/robot.hh b/include/hpp/manipulation/robot.hh
index e271076e..39aadb3d 100644
--- a/include/hpp/manipulation/robot.hh
+++ b/include/hpp/manipulation/robot.hh
@@ -105,9 +105,25 @@ namespace hpp {
return it->second;
}
+ /// Get Device names in the same order than the compositeRobot has been
+ /// build
+ std::vector<std::string> getDeviceNames()
+ {
+ std::vector<std::string> deviceNames;
+ for ( Devices_t::iterator itDevice = robots_.begin() ; itDevice !=
+ robots_.end() ; itDevice++ ) {
+ deviceNames.push_back((*itDevice)->name());
+ }
+ for ( Objects_t::iterator itObject = objects_.begin() ; itObject !=
+ objects_.end() ; itObject++ ) {
+ deviceNames.push_back((*itObject)->name());
+ }
+ return deviceNames;
+ }
+
/// Print object in a stream
virtual std::ostream& print (std::ostream& os) const;
-
+
protected:
/// Constructor
/// \param name of the new instance,
--
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