From 928cb76d5629a812ca4a4693de1bf183eb5f97fe Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 28 Sep 2022 15:53:53 +0200
Subject: [PATCH] [Handle] Add a setter for the local pose of handle in joint
frame.
---
include/hpp/manipulation/handle.hh | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index 00a12c37..d43a14a3 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/include/hpp/manipulation/handle.hh
@@ -100,6 +100,11 @@ class HPP_MANIPULATION_DLLAPI Handle {
/// Get local position in joint frame
const Transform3f& localPosition() const { return localPosition_; }
+ /// Set local position in joint frame
+ void localPosition(const Transform3f& localPosition) {
+ localPosition_ = localPosition;
+ }
+
/// Set constraint mask
void mask(const std::vector<bool>& mask);
--
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