Add equality operator in class Joint.

include/hpp/pinocchio/joint.hh

@@ -226,6 +226,16 @@ namespace hpp {
 
       /// \}
 
+      bool operator== (const Joint& other) const
+      {
+        return index() == other.index() && robot() == other.robot();
+      }
+
+      bool operator!= (const Joint& other) const
+      {
+        return !operator==(other);
+      }
+
     protected:
       value_type maximalDistanceToParent_;
       DeviceWkPtr_t devicePtr;

tests/joint-bounds.cc

@@ -43,6 +43,11 @@ BOOST_AUTO_TEST_CASE(joint_bounds)
   size_type nJoints (robot->nbJoints ());
   for (size_type i=0; i<nJoints; ++i) {
     JointPtr_t joint (robot->jointAt (i));
+    BOOST_CHECK(joint == joint);
+    BOOST_CHECK(*joint == *robot->jointAt (i));
+    if (i > 0)
+      BOOST_CHECK(*joint != *robot->jointAt (i-1));
+
     // Set bounds
     vector_t l0 (joint->configSize ());
     vector_t u0 (joint->configSize ());