Verified Commit b162d1f2 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

joint/mimic: keeps S

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