Commit 0d39a8ed authored by Justin Carpentier's avatar Justin Carpentier

joints: add ref accesor to Jdata::c

parent cdadf1a1
......@@ -17,6 +17,7 @@
typedef TYPENAME traits<Joint>::MotionTypeConstRef MotionTypeConstRef; \
typedef TYPENAME traits<Joint>::MotionTypeRef MotionTypeRef; \
typedef TYPENAME traits<Joint>::BiasTypeConstRef BiasTypeConstRef; \
typedef TYPENAME traits<Joint>::BiasTypeRef BiasTypeRef; \
typedef TYPENAME traits<Joint>::UTypeConstRef UTypeConstRef; \
typedef TYPENAME traits<Joint>::UTypeRef UTypeRef; \
typedef TYPENAME traits<Joint>::DTypeConstRef DTypeConstRef; \
......@@ -46,6 +47,7 @@
MotionTypeConstRef v_accessor() const { return v; } \
MotionTypeRef v_accessor() { return v; } \
BiasTypeConstRef c_accessor() const { return c; } \
BiasTypeRef c_accessor() { return c; } \
UTypeConstRef U_accessor() const { return U; } \
UTypeRef U_accessor() { return U; } \
DTypeConstRef Dinv_accessor() const { return Dinv; } \
......@@ -58,6 +60,7 @@
typedef const Motion_t & MotionTypeConstRef; \
typedef Motion_t & MotionTypeRef; \
typedef const Bias_t & BiasTypeConstRef; \
typedef Bias_t & BiasTypeRef; \
typedef const U_t & UTypeConstRef; \
typedef U_t & UTypeRef; \
typedef const D_t & DTypeConstRef; \
......@@ -83,6 +86,7 @@ namespace pinocchio
MotionTypeConstRef v() const { return derived().v_accessor(); }
MotionTypeRef v() { return derived().v_accessor(); }
BiasTypeConstRef c() const { return derived().c_accessor(); }
BiasTypeRef c() { return derived().c_accessor(); }
UTypeConstRef U() const { return derived().U_accessor(); }
UTypeRef U() { return derived().U_accessor(); }
......
......@@ -114,6 +114,7 @@ namespace pinocchio
Motion_t v_accessor() const { return v(); }
Motion_t v_accessor() { return v(); }
Bias_t c_accessor() const { return c(); }
Bias_t c_accessor() { return c(); }
U_t U_accessor() const { return U(); }
D_t Dinv_accessor() const { return Dinv(); }
UD_t UDinv_accessor() const { return UDinv(); }
......
......@@ -305,6 +305,7 @@ namespace pinocchio
MotionTypeConstRef v_accessor() const { return jdata_ref.v; }
MotionTypeRef v_accessor() { return jdata_ref.v; }
BiasTypeConstRef c_accessor() const { return jdata_ref.c; }
BiasTypeRef c_accessor() { return jdata_ref.c; }
UTypeConstRef U_accessor() const { return jdata_ref.U; }
UTypeRef U_accessor() { return jdata_ref.U; }
DTypeConstRef Dinv_accessor() const { return jdata_ref.Dinv; }
......
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