Expose individual bodies NDOF effector #1117
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joaogvcarneiro
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schaubh
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Sep 28, 2025
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Nice PR. Thanks for upgrading both effectors. Some todos:
- need to deprecate the use of the all effector class name
- I don't see any unit tests checking that we can change values on the fly. We should test this in a unit test for both effectors.
...nearTranslationalBodies/linearTranslationBodiesOneDOF/linearTranslationOneDOFStateEffector.h
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Just need to fix the RST typo in the release notes, rebase, then you are good to push to origin.
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Description
The commits first run through
spinningBodiesNDOF, and then move ontolinearTranslationBodiesNDOF. First, allSpinningBodyandTranslatingBodystructures are madeshared_ptr. Then, the.ifiles are changed appropriately to accommodate the use of shared pointers. Finally, a getter method is added for each body so that they can be changed in Python. Test changes are added at the end.Verification
Added two new tests that set and retrieve the body parameters on the fly to make sure all data is kept in memory. All tests pass as expected.
Documentation
N/A.
Future work
N/A.