Commit ce88911d authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

When Joint::positionInParentFrame changes, set Device::upToDate_ to false.

parent 7cd75ac1
......@@ -177,10 +177,7 @@ namespace hpp {
return positionInParentFrame_;
}
/// Set position of joint in parent frame
void positionInParentFrame (const Transform3f& p)
{
positionInParentFrame_ = p;
}
void positionInParentFrame (const Transform3f& p);
///\}
/// \name Bounds
......
......@@ -107,6 +107,13 @@ namespace hpp {
robot->computeMass ();
}
void Joint::positionInParentFrame (const Transform3f& p)
{
DevicePtr_t r = robot_.lock ();
if (r) r->upToDate_ = false;
positionInParentFrame_ = p;
}
void Joint::isBounded (size_type rank, bool bounded)
{
configuration_->isBounded (rank, bounded);
......
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