Commit c9c33f0b authored by Justin Carpentier's avatar Justin Carpentier

joint/data: add operator==

parent dc4db03d
......@@ -112,6 +112,24 @@ namespace pinocchio
return os;
}
bool operator==(const JointDataBase<Derived> & other) const
{
return derived().isEqual(other.derived());
}
/// \brief Default operator== implementation
bool isEqual(const JointDataBase<Derived> & other) const
{
return S() == other.S()
&& M() == other.M()
&& v() == other.v()
&& c() == other.c()
&& U() == other.U()
&& Dinv() == other.Dinv()
&& UDinv() == other.UDinv()
;
}
protected:
/// \brief Default constructor: protected.
......
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