From b7fb7a38844924d6fd41afbd192abc82a48d6d92 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sun, 31 May 2015 21:46:48 +0200
Subject: [PATCH] Add GraphComponent::passiveDofs
---
include/hpp/manipulation/graph/graph-component.hh | 3 +++
src/graph/graph-component.cc | 5 +++++
2 files changed, 8 insertions(+)
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index 9a5a373a..16480b67 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -85,6 +85,9 @@ namespace hpp {
/// Get a reference to the NumericalConstraints_t
const NumericalConstraints_t& numericalConstraints() const;
+ /// Get a reference to the NumericalConstraints_t
+ const std::vector <SizeIntervals_t>& passiveDofs() const;
+
/// Get a reference to the LockedJoints_t
const LockedJoints_t& lockedJoints () const;
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index c4d49d2d..55ee9025 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -111,6 +111,11 @@ namespace hpp {
return numericalConstraints_;
}
+ const std::vector <SizeIntervals_t>& GraphComponent::passiveDofs() const
+ {
+ return passiveDofs_;
+ }
+
const LockedJoints_t& GraphComponent::lockedJoints () const
{
return lockedJoints_;
--
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