Verified Commit d4e86952 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

joints: add ref accessor to M

parent 9a11b8ea
......@@ -13,6 +13,7 @@
PINOCCHIO_JOINT_MODEL_TYPEDEF_GENERIC(Joint,TYPENAME); \
typedef TYPENAME traits<Joint>::ConstraintTypeConstRef ConstraintTypeConstRef; \
typedef TYPENAME traits<Joint>::TansformTypeConstRef TansformTypeConstRef; \
typedef TYPENAME traits<Joint>::TansformTypeRef TansformTypeRef; \
typedef TYPENAME traits<Joint>::MotionTypeConstRef MotionTypeConstRef; \
typedef TYPENAME traits<Joint>::BiasTypeConstRef BiasTypeConstRef; \
typedef TYPENAME traits<Joint>::UTypeConstRef UTypeConstRef; \
......@@ -40,6 +41,7 @@
#define PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR \
ConstraintTypeConstRef S_accessor() const { return S; } \
TansformTypeConstRef M_accessor() const { return M; } \
TansformTypeRef M_accessor() { return M; } \
MotionTypeConstRef v_accessor() const { return v; } \
BiasTypeConstRef c_accessor() const { return c; } \
UTypeConstRef U_accessor() const { return U; } \
......@@ -50,6 +52,7 @@
#define PINOCCHIO_JOINT_DATA_BASE_ACCESSOR_DEFAULT_RETURN_TYPE \
typedef const Constraint_t & ConstraintTypeConstRef; \
typedef const Transformation_t & TansformTypeConstRef; \
typedef Transformation_t & TansformTypeRef; \
typedef const Motion_t & MotionTypeConstRef; \
typedef const Bias_t & BiasTypeConstRef; \
typedef const U_t & UTypeConstRef; \
......@@ -73,6 +76,7 @@ namespace pinocchio
ConstraintTypeConstRef S() const { return derived().S_accessor(); }
TansformTypeConstRef M() const { return derived().M_accessor(); }
TansformTypeRef M() { return derived().M_accessor(); }
MotionTypeConstRef v() const { return derived().v_accessor(); }
BiasTypeConstRef c() const { return derived().c_accessor(); }
......
......@@ -301,6 +301,7 @@ namespace pinocchio
// Accessors
ConstraintTypeConstRef S_accessor() const { return S; }
TansformTypeConstRef M_accessor() const { return jdata_ref.M; }
TansformTypeRef M_accessor() { return jdata_ref.M; }
MotionTypeConstRef v_accessor() const { return jdata_ref.v; }
BiasTypeConstRef c_accessor() const { return jdata_ref.c; }
UTypeConstRef U_accessor() const { return jdata_ref.U; }
......
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