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Stack Of Tasks
pinocchio
Commits
e4530499
Verified
Commit
e4530499
authored
May 08, 2020
by
Gabriele Buondonno
Committed by
Justin Carpentier
May 12, 2020
Browse files
[multibody] Change return type of addJointFrame and addBodyFrame to FrameIndex
parent
10205b21
Changes
2
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src/multibody/model.hpp
View file @
e4530499
...
...
@@ -398,10 +398,10 @@ namespace pinocchio
/// \param[in] frameIndex Index of the parent frame. If negative,
/// the parent frame is the frame of the parent joint.
///
/// \return The index of the new frame
or -1 in case of error.
/// \return The index of the new frame
///
int
addJointFrame
(
const
JointIndex
&
joint_index
,
int
previous_frame_index
=
-
1
);
FrameIndex
addJointFrame
(
const
JointIndex
&
joint_index
,
int
previous_frame_index
=
-
1
);
///
/// \brief Append a body to a given joint of the kinematic tree.
...
...
@@ -424,12 +424,12 @@ namespace pinocchio
/// \param[in] previousFrame Index of the parent frame. If negative,
/// the parent frame is the frame of the parent joint.
///
/// \return The index of the new frame
or -1 in case of error.
/// \return The index of the new frame
///
int
addBodyFrame
(
const
std
::
string
&
body_name
,
const
JointIndex
&
parentJoint
,
const
SE3
&
body_placement
=
SE3
::
Identity
(),
int
previousFrame
=
-
1
);
FrameIndex
addBodyFrame
(
const
std
::
string
&
body_name
,
const
JointIndex
&
parentJoint
,
const
SE3
&
body_placement
=
SE3
::
Identity
(),
int
previousFrame
=
-
1
);
///
/// \brief Return the index of a body given by its name.
...
...
src/multibody/model.hxx
View file @
e4530499
...
...
@@ -146,7 +146,8 @@ namespace pinocchio
}
template
<
typename
Scalar
,
int
Options
,
template
<
typename
,
int
>
class
JointCollectionTpl
>
inline
int
ModelTpl
<
Scalar
,
Options
,
JointCollectionTpl
>::
inline
typename
ModelTpl
<
Scalar
,
Options
,
JointCollectionTpl
>::
FrameIndex
ModelTpl
<
Scalar
,
Options
,
JointCollectionTpl
>::
addJointFrame
(
const
JointIndex
&
joint_index
,
int
previous_frame_index
)
{
...
...
@@ -176,7 +177,8 @@ namespace pinocchio
}
template
<
typename
Scalar
,
int
Options
,
template
<
typename
,
int
>
class
JointCollectionTpl
>
inline
int
ModelTpl
<
Scalar
,
Options
,
JointCollectionTpl
>::
inline
typename
ModelTpl
<
Scalar
,
Options
,
JointCollectionTpl
>::
FrameIndex
ModelTpl
<
Scalar
,
Options
,
JointCollectionTpl
>::
addBodyFrame
(
const
std
::
string
&
body_name
,
const
JointIndex
&
parentJoint
,
const
SE3
&
body_placement
,
...
...
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