Commit 8abeee0a authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Add Frame::positionInParentFrame

parent c65afd8b
......@@ -84,6 +84,9 @@ namespace hpp {
return children_;
}
/// Get (constant) placement of frame in parent joint
const Transform3f& positionInParentJoint () const;
/// Get (constant) placement of frame in parent frame
Transform3f positionInParentFrame () const;
......
......@@ -151,6 +151,11 @@ namespace hpp {
}
}
const Transform3f& Frame::positionInParentJoint () const
{
return pinocchio().placement;
}
Transform3f Frame::positionInParentFrame () const
{
selfAssert();
......
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