From 5a0aab9e46e0d0ee26779b4e03d2278e5f7a8ca3 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 20 Mar 2020 09:47:50 +0100
Subject: [PATCH] Add getter for the security margin.
---
include/hpp/manipulation/graph/edge.hh | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 3c9cdb36..ac424956 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -154,6 +154,13 @@ namespace hpp {
/// \note set value to matrix [row, col] and matrix [col, row].
void securityMarginForPair(const size_type& row, const size_type& col,
const value_type& margin);
+
+ /// Accessor to the security margin.
+ const matrix_t& securityMargins() const
+ {
+ return securityMargins_;
+ }
+
/// Get direction of the path compare to the edge
/// \return true is reverse
virtual bool direction (const core::PathPtr_t& path) const;
--
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