KinematicTree: getter for joints

ipab-slmc · Jun 18, 2019 · cfb3914 · cfb3914
1 parent 9f67e9b
commit cfb3914
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/exotica_core/include/exotica_core/kinematic_tree.h b/exotica_core/include/exotica_core/kinematic_tree.h
@@ -220,6 +220,9 @@ class KinematicTree : public Uncopyable
     const std::map<std::string, std::weak_ptr<KinematicElement>>& GetCollisionTreeMap() const { return collision_tree_map_; }
     bool DoesLinkWithNameExist(std::string name) const;  //!< Checks whether a link with this name exists in any of the trees
 
+    const std::vector<std::weak_ptr<KinematicElement>>& GetControlledJoints() const { return controlled_joints_; }
+    const std::map<std::string, std::weak_ptr<KinematicElement>>& GetControlledJointsMap() const { return controlled_joints_map_; }
+    const std::map<std::string, std::weak_ptr<KinematicElement>>& GetModelJointsMap() const { return model_joints_map_; }
     std::map<std::string, shapes::ShapeType> GetCollisionObjectTypes() const;
 
     /// @brief SetSeed sets the seed of the random generator for deterministic joint state sampling