Commit 0660fdec authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Add Joint::jointModel() and CollisionObject::indexInModel()

parent 9e48a8da
......@@ -102,6 +102,11 @@ namespace hpp {
const fcl::Transform3f& getFclTransform () const;
const Transform3f& getTransform () const;
const GeomIndex& indexInModel () const
{
return geomInModelIndex;
}
/// Move object to given position
/// \note This method should only be executed on objects not attached
/// to a robot body (ie attached to the "universe", joint 0). This statement
......
......@@ -284,6 +284,11 @@ namespace hpp {
return jointIndex;
}
se3::JointModel& jointModel()
{
return model()->joints[index()];
}
/// \}
protected:
......
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