Commit fa91b017 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Joint::positionInParentFrame cannot be set from Joint.

parent 97842050
......@@ -158,8 +158,9 @@ namespace hpp {
/// Get (constant) placement of joint in parent frame, i.e. model.jointPlacement[idx]
const Transform3f& positionInParentFrame () const;
/// Set position of joint in parent frame
void positionInParentFrame (const Transform3f& p);
//DEPREC /// Set position of joint in parent frame
//DEPREC /// Use Frame::positionInParentFrame instead
//DEPREC void positionInParentFrame (const Transform3f& p);
///\}
// -----------------------------------------------------------------------
/// \name Bounds
......
......@@ -24,6 +24,7 @@
# include <hpp/pinocchio/device.hh>
# include <hpp/pinocchio/body.hh>
# include <hpp/pinocchio/frame.hh>
# include "joint/bound.hh"
......@@ -127,13 +128,6 @@ namespace hpp {
return model().jointPlacements[jointIndex];
}
void Joint::positionInParentFrame (const Transform3f& p)
{
selfAssert();
devicePtr->invalidate();
model().jointPlacements[jointIndex] = p;
}
void Joint::isBounded (size_type rank, bool bounded)
{
const size_type idx = model().joints[jointIndex].idx_q() + rank;
......
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