Commit 411a0701 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Add Device::rootFrame

parent c2378767
......@@ -148,14 +148,12 @@ namespace hpp {
/// \name Joints
/// \{
//DEPREC /// Set the root of the kinematic chain
//DEPREC virtual void rootJoint (JointPtr_t joint);
//DEPREC /// Set position of root joint in world frame
//DEPREC void rootJointPosition (const Transform3f& position);
/// Get root joint
JointPtr_t rootJoint () const;
/// Get root frame
Frame rootFrame () const;
//DEPREC /// Register joint in internal containers
//DEPREC void registerJoint (const JointPtr_t& joint);
/// Get vector of joints
......
......@@ -141,12 +141,17 @@ namespace hpp {
/* --- JOINT ------------------------------------------------------------ */
/* ---------------------------------------------------------------------- */
JointPtr_t Device::
rootJoint () const
JointPtr_t Device::rootJoint () const
{
return JointPtr_t( new Joint(weakPtr_.lock(),1) );
}
Frame Device::rootFrame () const
{
const se3::FrameType type = (se3::FrameType)(se3::JOINT | se3::FIXED_JOINT);
return Frame(weakPtr_.lock(), model().getFrameId("root_joint", type));
}
JointPtr_t Device::
getJointAtConfigRank (const size_type& r) const
{
......
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