From 98e6df60e34012370d6f9265629f967dae4c351c Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Tue, 2 Aug 2016 14:53:27 +0200
Subject: [PATCH] [C++] Set Data and Model are no more class but struct
---
src/multibody/model.hpp | 10 ++--------
1 file changed, 2 insertions(+), 8 deletions(-)
diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index 8157d6ee7..bc668c274 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -40,12 +40,8 @@ EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::SE3::Vector3)
namespace se3
{
- class Model;
- class Data;
-
- class Model
+ struct Model
{
- public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef se3::Index Index;
typedef se3::JointIndex JointIndex;
@@ -351,9 +347,8 @@ namespace se3
void addJointIndexToParentSubtrees(const JointIndex joint_id);
};
- class Data
+ struct Data
{
- public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/// \brief The 6d jacobian type (temporary)
typedef Eigen::Matrix<double,6,Eigen::Dynamic> Matrix6x;
@@ -361,7 +356,6 @@ namespace se3
typedef Eigen::Matrix<double,3,Eigen::Dynamic> Matrix3x;
typedef SE3::Vector3 Vector3;
- public:
/// \brief Vector of se3::JointData associated to the se3::JointModel stored in model, encapsulated in JointDataAccessor.
JointDataVector joints;
--
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