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pinocchio
Commits
c4dcff8f
Verified
Commit
c4dcff8f
authored
Dec 20, 2019
by
Justin Carpentier
Browse files
joint/mimic: export joint config and velocity
parent
5b3cf92a
Changes
1
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src/multibody/joint/joint-mimic.hpp
View file @
c4dcff8f
...
...
@@ -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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