From ee2d86a9519bf3e5e7bf416e495fef51fbdb1502 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sun, 21 Aug 2016 17:19:33 +0200
Subject: [PATCH] [C++] Add GeometryModel::addGeometryObject(const Geometry&)
---
src/multibody/geometry.hpp | 9 +++++++++
src/multibody/geometry.hxx | 17 +++++++++++------
2 files changed, 20 insertions(+), 6 deletions(-)
diff --git a/src/multibody/geometry.hpp b/src/multibody/geometry.hpp
index 1e3d5f446..516428e23 100644
--- a/src/multibody/geometry.hpp
+++ b/src/multibody/geometry.hpp
@@ -70,6 +70,15 @@ namespace se3
~GeometryModel() {};
+ /**
+ * @brief Add a geometry object to a GeometryModel
+ *
+ * @param[in] object Object
+ *
+ * @return The index of the new added GeometryObject in geometryObjects
+ */
+ inline GeomIndex addGeometryObject(const GeometryObject& object);
+
/**
* @brief Add a geometry object to a GeometryModel
*
diff --git a/src/multibody/geometry.hxx b/src/multibody/geometry.hxx
index 01e054328..69085c4ca 100644
--- a/src/multibody/geometry.hxx
+++ b/src/multibody/geometry.hxx
@@ -32,6 +32,14 @@
namespace se3
{
+ inline GeomIndex GeometryModel::addGeometryObject(const GeometryObject& object)
+ {
+ Index idx = (Index) (ngeoms ++);
+ geometryObjects.push_back(object);
+ addInnerObject(object.parentJoint, idx);
+ return idx;
+ }
+
inline GeomIndex GeometryModel::addGeometryObject(const Model& model,
const FrameIndex parent,
const boost::shared_ptr<fcl::CollisionGeometry> & co,
@@ -39,14 +47,11 @@ namespace se3
const std::string & geom_name,
const std::string & mesh_path) throw(std::invalid_argument)
{
- Index idx = (Index) (ngeoms ++);
-
assert (model.frames[parent].type == se3::BODY);
JointIndex parentJoint = model.frames[parent].parent;
- geometryObjects.push_back(GeometryObject( geom_name, parent, parentJoint, co,
- placement, mesh_path));
- addInnerObject(parentJoint, idx);
- return idx;
+ GeometryObject object( geom_name, parent, parentJoint, co,
+ placement, mesh_path);
+ return addGeometryObject (object);
}
--
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