Verified Commit 0ff4170e authored by Justin Carpentier's avatar Justin Carpentier
Browse files

multibody/joint: add jointRows selector to JointModelBase

parent 1818ac17
//
// Copyright (c) 2015-2016,2018 CNRS
// Copyright (c) 2015-2018 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
// This file is part of Pinocchio
......@@ -344,6 +344,19 @@ struct CastType< NewScalar, JointModelTpl<Scalar,Options> > \
template<typename D>
typename SizeDepType<NV>::template ColsReturn<D>::Type
jointCols_impl(Eigen::MatrixBase<D>& A) const { return A.template middleCols<NV>(i_v); }
template<typename D>
typename SizeDepType<NV>::template RowsReturn<D>::ConstType
jointRows(const Eigen::MatrixBase<D>& A) const { return derived().jointRows_impl(A); }
template<typename D>
typename SizeDepType<NV>::template RowsReturn<D>::ConstType
jointRows_impl(const Eigen::MatrixBase<D>& A) const { return A.template middleRows<NV>(i_v); }
template<typename D>
typename SizeDepType<NV>::template RowsReturn<D>::Type
jointRows(Eigen::MatrixBase<D>& A) const { return derived().jointRows_impl(A); }
template<typename D>
typename SizeDepType<NV>::template RowsReturn<D>::Type
jointRows_impl(Eigen::MatrixBase<D>& A) const { return A.template middleRows<NV>(i_v); }
protected:
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment