Commit 3d0221ad authored by Mylene Campana's avatar Mylene Campana
Browse files

In CollisionObject, store and return joint as non const.

  Manipulating const Joint is not realistic.
parent f5cc1656
......@@ -51,8 +51,9 @@ namespace hpp {
const std::string& name () const {return name_;}
/// Access to fcl object
fcl::CollisionObjectPtr_t fcl () const {return object_;}
/// Access to the joint
const JointConstPtr_t& joint () const {return joint_;}
/// Get joint
const JointPtr_t& joint () {return joint_;}
/// Set joint
void joint (const JointPtr_t joint);
/// Return the position in the joint frame
......@@ -116,7 +117,7 @@ namespace hpp {
fcl::CollisionObjectPtr_t object_;
fcl::Transform3f positionInJointFrame_;
JointConstPtr_t joint_;
JointPtr_t joint_;
std::string name_;
CollisionObjectWkPtr_t weakPtr_;
}; // class CollisionObject
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