Verified Commit 56e51c31 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

joints: add equal operator to specifi Transform types

parent d4e86952
......@@ -235,6 +235,11 @@ namespace pinocchio
ConstLinearRef translation() const { return CartesianAxis3()*displacement(); };
AngularType rotation() const { return AngularType(3,3); }
bool isEqual(const TransformPrismaticTpl & other) const
{
return m_displacement == other.m_displacement;
}
protected:
......
......@@ -159,6 +159,11 @@ namespace pinocchio
return m;
}
bool isEqual(const TransformRevoluteTpl & other) const
{
return m_cos == other.m_cos && m_sin == other.m_sin;
}
protected:
Scalar m_sin, m_cos;
......
......@@ -233,6 +233,11 @@ namespace pinocchio
AngularType rotation() const { return AngularType(3,3); }
bool isEqual(const TransformTranslationTpl & other) const
{
return m_translation == other.m_translation;
}
protected:
LinearType m_translation;
......
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