Commit b162d1f2 authored by Justin Carpentier's avatar Justin Carpentier

joint/mimic: keeps S

parent 4001ca67
......@@ -286,14 +286,14 @@ namespace pinocchio
const Scalar & scaling)
: m_jdata_ref(jdata.derived())
, m_scaling(scaling)
, m_S(m_jdata_ref.S,scaling)
, S(m_jdata_ref.S,scaling)
{}
JointDataMimic & operator=(const JointDataMimic & other)
{
m_jdata_ref = other.m_jdata_ref;
m_scaling = other.m_scaling;
m_S = Constraint_t(m_jdata_ref.S,other.m_scaling);
S = Constraint_t(m_jdata_ref.S,other.m_scaling);
return *this;
}
......@@ -308,8 +308,8 @@ namespace pinocchio
}
// Accessors
ConstraintTypeConstRef S_accessor() const { return m_S; }
ConstraintTypeRef S_accessor() { return m_S; }
ConstraintTypeConstRef S_accessor() const { return S; }
ConstraintTypeRef S_accessor() { return S; }
TansformTypeConstRef M_accessor() const { return m_jdata_ref.M; }
TansformTypeRef M_accessor() { return m_jdata_ref.M; }
......@@ -351,7 +351,7 @@ namespace pinocchio
public:
// data
Constraint_t m_S;
Constraint_t S;
}; // struct JointDataMimic
......
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