Verified Commit 7a91755b authored by Justin Carpentier's avatar Justin Carpentier
Browse files

core: use JointModel name within JointModelComposite

parent e8acc7ce
//
// Copyright (c) 2016-2020 CNRS INRIA
// Copyright (c) 2016-2021 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(JointModelVariant) 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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