Commit e4eda244 authored by andreadelprete's avatar andreadelprete
Browse files

[task-se3-equality] Add method to get frame-id

parent 2eefe10d
......@@ -74,6 +74,8 @@ namespace tsid
void Kp(ConstRefVector Kp);
void Kd(ConstRefVector Kp);
Index frame_id() const;
protected:
std::string m_frame_name;
......
......@@ -129,6 +129,11 @@ namespace tsid
return m_constraint.matrix()*dv + m_drift.toVector();
}
Index TaskSE3Equality::frame_id() const
{
return m_frame_id;
}
const ConstraintBase & TaskSE3Equality::getConstraint() const
{
return m_constraint;
......
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