Store Device::configSpaceRnxSOn_.

include/hpp/pinocchio/device.hh

@@ -178,7 +178,7 @@ namespace hpp {
       const LiegroupSpacePtr_t& configSpace () const { return configSpace_; }
 
       /// See Joint::RnxSOnConfigurationSpace
-      LiegroupSpacePtr_t RnxSOnConfigSpace () const;
+      const LiegroupSpacePtr_t& RnxSOnConfigSpace () const { return configSpaceRnxSOn_; }
 
       /// Get the neutral configuration
       Configuration_t neutralConfiguration () const;
@@ -330,7 +330,7 @@ namespace hpp {
       std::string name_;
       // Grippers
       Grippers_t grippers_;
-      LiegroupSpacePtr_t configSpace_;
+      LiegroupSpacePtr_t configSpace_, configSpaceRnxSOn_;
       // Extra configuration space
       ExtraConfigSpace extraConfigSpace_;
       // Joint linear constraints

src/device.cc

@@ -279,27 +279,21 @@ namespace hpp {
       d_.jointJacobians_.resize ((std::size_t)model().njoints);
 
       configSpace_ = LiegroupSpace::empty();
+      configSpaceRnxSOn_ = LiegroupSpace::empty();
       const Model& m (model());
-      for (JointIndex i = 1; i < m.joints.size(); ++i)
-        *configSpace_ *= Joint(weakPtr_, i).configurationSpace();
-      if (extraConfigSpace_.dimension() > 0)
-        *configSpace_ *= LiegroupSpace::create (extraConfigSpace_.dimension());
+      for (JointIndex i = 1; i < m.joints.size(); ++i) {
+        *configSpace_       *= Joint(weakPtr_, i).configurationSpace();
+        *configSpaceRnxSOn_ *= Joint(weakPtr_, i).RnxSOnConfigurationSpace();
+      }
+      if (extraConfigSpace_.dimension() > 0) {
+        LiegroupSpacePtr_t extra = LiegroupSpace::create (extraConfigSpace_.dimension());
+        *configSpace_       *= extra;
+        *configSpaceRnxSOn_ *= extra;
+      }
 
       numberDeviceData(numberDeviceData());
     }
 
-    LiegroupSpacePtr_t Device::
-    RnxSOnConfigSpace () const
-    {
-      const Model& m (model());
-      LiegroupSpacePtr_t space (LiegroupSpace::empty());
-      for (JointIndex i = 1; i < m.joints.size(); ++i)
-        *space *= Joint(weakPtr_, i).RnxSOnConfigurationSpace();
-      if (extraConfigSpace_.dimension() > 0)
-        *space *= LiegroupSpace::create (extraConfigSpace_.dimension());
-      return space;
-    }
-
     Configuration_t Device::
     neutralConfiguration () const
     {