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Commit b13658e0 authored by jcarpent's avatar jcarpent
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[Robot Wrapper] Expose model

parent 0b4c537d
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......@@ -75,6 +75,7 @@ namespace pininvdyn
/// \returns a const reference on the model.
///
const Model & model() const;
Model & model();
void computeAllTerms(Data & data, const Vector & q, const Vector & v) const;
......
......@@ -54,6 +54,7 @@ namespace pininvdyn
int RobotWrapper::nv() const { return m_model.nv; }
const Model & RobotWrapper::model() const { return m_model; }
Model & RobotWrapper::model() { return m_model; }
void RobotWrapper::computeAllTerms(Data & data, const Vector & q, const Vector & v) const
{
......
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