Commit c4dcff8f authored by Justin Carpentier's avatar Justin Carpentier

joint/mimic: export joint config and velocity

parent 5b3cf92a
......@@ -305,7 +305,8 @@ namespace pinocchio
&& m_jdata_ref == other.m_jdata_ref
&& m_scaling == other.m_scaling
&& m_q_transform == other.m_q_transform
&& m_v_transform == other.m_v_transform;
&& m_v_transform == other.m_v_transform
;
}
static std::string classname()
......@@ -349,6 +350,12 @@ namespace pinocchio
const Scalar & scaling() const { return m_scaling; }
Scalar & scaling() { return m_scaling; }
ConfigVector_t & jointConfiguration() { return m_q_transform; }
const ConfigVector_t & jointConfiguration() const { return m_q_transform; }
TangentVector_t & jointVelocity() { return m_v_transform; }
const TangentVector_t & jointVelocity() const { return m_v_transform; }
protected:
JointData m_jdata_ref;
......
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