Verified Commit 2d8766d4 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

joint: call correct joint methods in disp

parent aaeee099
......@@ -429,10 +429,14 @@ struct CastType< NewScalar, JointModelTpl<Scalar,Options> > \
// Default _impl methods are reimplemented by dynamic-size joints.
int nv_impl() const { return NV; }
int nq_impl() const { return NQ; }
int idx_q() const { return derived().idx_q_impl(); }
int idx_v() const { return derived().idx_v_impl(); }
JointIndex id() const { return derived().id_impl(); }
int idx_q() const { return i_q; }
int idx_v() const { return i_v; }
JointIndex id() const { return i_id; }
int idx_q_impl() const { return i_q; }
int idx_v_impl() const { return i_v; }
JointIndex id_impl() const { return i_id; }
void setIndexes(JointIndex id, int q, int v) { derived().setIndexes_impl(id, q, v); }
......@@ -443,9 +447,9 @@ struct CastType< NewScalar, JointModelTpl<Scalar,Options> > \
using namespace std;
os
<< shortname() << endl
<< " index: " << i_id << endl
<< " index q: " << i_q << endl
<< " index v: " << i_v << endl
<< " index: " << id() << endl
<< " index q: " << idx_q() << endl
<< " index v: " << idx_v() << endl
<< " nq: " << nq() << endl
<< " nv: " << nv() << endl
;
......
......@@ -197,10 +197,10 @@ namespace pinocchio
int nq_impl() const { return ::pinocchio::nq(*this); }
int nv_impl() const { return ::pinocchio::nv(*this); }
int idx_q() const { return ::pinocchio::idx_q(*this); }
int idx_v() const { return ::pinocchio::idx_v(*this); }
int idx_q_impl() const { return ::pinocchio::idx_q(*this); }
int idx_v_impl() const { return ::pinocchio::idx_v(*this); }
JointIndex id() const { return ::pinocchio::id(*this); }
JointIndex id_impl() const { return ::pinocchio::id(*this); }
void setIndexes(JointIndex id, int nq, int nv)
{ ::pinocchio::setIndexes(*this,id, nq, nv); }
......
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