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Stack Of Tasks
pinocchio
Commits
9de0a8cf
Verified
Commit
9de0a8cf
authored
Dec 17, 2019
by
Justin Carpentier
Browse files
joints: add ref accessor to v
parent
5c2ee83e
Changes
2
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Inline
Side-by-side
src/multibody/joint/joint-data-base.hpp
View file @
9de0a8cf
...
...
@@ -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
();
}
...
...
src/multibody/joint/joint-mimic.hpp
View file @
9de0a8cf
...
...
@@ -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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