joints: add ref accessor to Constraint

src/multibody/joint/joint-data-base.hpp

@@ -12,6 +12,7 @@
 #define PINOCCHIO_JOINT_DATA_TYPEDEF_GENERIC(Joint,TYPENAME)              \
   PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,TYPENAME); \
   typedef TYPENAME traits<Joint>::ConstraintTypeConstRef ConstraintTypeConstRef;      \
+  typedef TYPENAME traits<Joint>::ConstraintTypeRef ConstraintTypeRef;      \
   typedef TYPENAME traits<Joint>::TansformTypeConstRef TansformTypeConstRef;      \
   typedef TYPENAME traits<Joint>::TansformTypeRef TansformTypeRef;      \
   typedef TYPENAME traits<Joint>::MotionTypeConstRef MotionTypeConstRef;      \
@@ -42,6 +43,7 @@
   
 #define PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR \
   ConstraintTypeConstRef S_accessor() const { return S; } \
+  ConstraintTypeRef S_accessor() { return S; } \
   TansformTypeConstRef M_accessor() const { return M; } \
   TansformTypeRef M_accessor() { return M; } \
   MotionTypeConstRef v_accessor() const { return v; } \
@@ -55,6 +57,7 @@
   
 #define PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE \
   typedef const Constraint_t & ConstraintTypeConstRef; \
+  typedef Constraint_t & ConstraintTypeRef; \
   typedef const Transformation_t & TansformTypeConstRef; \
   typedef Transformation_t & TansformTypeRef; \
   typedef const Motion_t & MotionTypeConstRef; \
@@ -81,6 +84,7 @@ namespace pinocchio
     const Derived & derived() const { return *static_cast<const Derived*>(this); }
 
     ConstraintTypeConstRef S() const     { return derived().S_accessor(); }
+    ConstraintTypeRef S()     { return derived().S_accessor(); }
     TansformTypeConstRef M() const     { return derived().M_accessor(); }
     TansformTypeRef M() { return derived().M_accessor(); }
     MotionTypeConstRef v() const     { return derived().v_accessor(); }

src/multibody/joint/joint-generic.hpp

 //
-// Copyright (c) 2016,2018 CNRS
+// Copyright (c) 2016-2019 CNRS INRIA
 //
 
 #ifndef __pinocchio_joint_generic_hpp__
@@ -44,6 +44,7 @@ namespace pinocchio
     typedef Eigen::Matrix<Scalar,6,Eigen::Dynamic,Options> UD_t;
     
     typedef Constraint_t ConstraintTypeConstRef;
+    typedef Constraint_t ConstraintTypeRef;
     typedef Transformation_t TansformTypeConstRef;
     typedef Transformation_t TansformTypeRef;
     typedef Motion_t MotionTypeConstRef;
@@ -111,9 +112,7 @@ namespace pinocchio
     /// Define all the standard accessors
     Constraint_t S_accessor() const { return S(); }
     Transformation_t M_accessor() const { return M(); }
-    Transformation_t M_accessor() { return M(); }
     Motion_t v_accessor() const { return v(); }
-    Motion_t v_accessor() { return v(); }
     Bias_t c_accessor() const { return c(); }
     Bias_t c_accessor() { return c(); }
     U_t U_accessor() const { return U(); }

src/multibody/joint/joint-mimic.hpp

@@ -153,7 +153,10 @@ namespace pinocchio
     }
     
     inline const Scalar & scaling() const { return m_scaling_factor; }
+    inline Scalar & scaling() { return m_scaling_factor; }
+    
     inline const Constraint & constraint() const { return m_constraint; }
+    inline Constraint & constraint() { return m_constraint; }
     
     bool isEqual(const ScaledConstraint & other) const
     {
@@ -306,6 +309,7 @@ namespace pinocchio
     
     // Accessors
     ConstraintTypeConstRef S_accessor() const { return S; }
+    ConstraintTypeRef S_accessor() { return S; }
     TansformTypeConstRef M_accessor() const { return jdata_ref.M; }
     TansformTypeRef M_accessor() { return jdata_ref.M; }
     MotionTypeConstRef v_accessor() const { return jdata_ref.v; }