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Stack Of Tasks
pinocchio
Commits
7a91755b
Verified
Commit
7a91755b
authored
Apr 29, 2021
by
Justin Carpentier
Browse files
core: use JointModel name within JointModelComposite
parent
e8acc7ce
Changes
1
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Inline
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src/multibody/joint/joint-composite.hpp
View file @
7a91755b
//
// Copyright (c) 2016-202
0
CNRS INRIA
// Copyright (c) 2016-202
1
CNRS INRIA
//
#ifndef __pinocchio_joint_composite_hpp__
...
...
@@ -156,13 +156,14 @@ namespace pinocchio
PINOCCHIO_JOINT_TYPEDEF_TEMPLATE
(
JointDerived
);
typedef
JointCollectionTpl
<
Scalar
,
Options
>
JointCollection
;
typedef
JointModelTpl
<
Scalar
,
Options
,
JointCollectionTpl
>
JointModelVariant
;
typedef
JointModelTpl
<
Scalar
,
Options
,
JointCollectionTpl
>
JointModel
;
typedef
JointModel
JointModelVariant
;
typedef
SE3Tpl
<
Scalar
,
Options
>
SE3
;
typedef
MotionTpl
<
Scalar
,
Options
>
Motion
;
typedef
InertiaTpl
<
Scalar
,
Options
>
Inertia
;
typedef
PINOCCHIO_ALIGNED_STD_VECTOR
(
JointModel
Variant
)
JointModelVector
;
typedef
PINOCCHIO_ALIGNED_STD_VECTOR
(
JointModel
)
JointModelVector
;
using
Base
::
id
;
using
Base
::
idx_q
;
...
...
@@ -325,6 +326,7 @@ namespace pinocchio
using
Base
::
isEqual
;
bool
isEqual
(
const
JointModelCompositeTpl
&
other
)
const
{
std
::
cout
<<
"JointModelCompositeTpl::isEqual"
<<
std
::
endl
;
return
Base
::
isEqual
(
other
)
&&
nq
()
==
other
.
nq
()
&&
nv
()
==
other
.
nv
()
...
...
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