Commit 9de0a8cf authored by Justin Carpentier's avatar Justin Carpentier

joints: add ref accessor to v

parent 5c2ee83e
......@@ -15,6 +15,7 @@
typedef TYPENAME traits<Joint>::TansformTypeConstRef TansformTypeConstRef; \
typedef TYPENAME traits<Joint>::TansformTypeRef TansformTypeRef; \
typedef TYPENAME traits<Joint>::MotionTypeConstRef MotionTypeConstRef; \
typedef TYPENAME traits<Joint>::MotionTypeRef MotionTypeRef; \
typedef TYPENAME traits<Joint>::BiasTypeConstRef BiasTypeConstRef; \
typedef TYPENAME traits<Joint>::UTypeConstRef UTypeConstRef; \
typedef TYPENAME traits<Joint>::UTypeRef UTypeRef; \
......@@ -43,6 +44,7 @@
TansformTypeConstRef M_accessor() const { return M; } \
TansformTypeRef M_accessor() { return M; } \
MotionTypeConstRef v_accessor() const { return v; } \
MotionTypeRef v_accessor() { return v; } \
BiasTypeConstRef c_accessor() const { return c; } \
UTypeConstRef U_accessor() const { return U; } \
UTypeRef U_accessor() { return U; } \
......@@ -54,6 +56,7 @@
typedef const Transformation_t & TansformTypeConstRef; \
typedef Transformation_t & TansformTypeRef; \
typedef const Motion_t & MotionTypeConstRef; \
typedef Motion_t & MotionTypeRef; \
typedef const Bias_t & BiasTypeConstRef; \
typedef const U_t & UTypeConstRef; \
typedef U_t & UTypeRef; \
......@@ -78,6 +81,7 @@ namespace pinocchio
TansformTypeConstRef M() const { return derived().M_accessor(); }
TansformTypeRef M() { return derived().M_accessor(); }
MotionTypeConstRef v() const { return derived().v_accessor(); }
MotionTypeRef v() { return derived().v_accessor(); }
BiasTypeConstRef c() const { return derived().c_accessor(); }
UTypeConstRef U() const { return derived().U_accessor(); }
......
......@@ -303,6 +303,7 @@ namespace pinocchio
TansformTypeConstRef M_accessor() const { return jdata_ref.M; }
TansformTypeRef M_accessor() { return jdata_ref.M; }
MotionTypeConstRef v_accessor() const { return jdata_ref.v; }
MotionTypeRef v_accessor() { return jdata_ref.v; }
BiasTypeConstRef c_accessor() const { return jdata_ref.c; }
UTypeConstRef U_accessor() const { return jdata_ref.U; }
UTypeRef U_accessor() { return jdata_ref.U; }
......
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