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Add child joints getter in Joint class.

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1 parent 7546fa9 commit 22b8031bd3467ac2843c6178112655eb9dabfc92 Antonio El Khoury committed
Showing with 8 additions and 0 deletions.
  1. +3 −0 include/ard/rbdl/model/joint.hh
  2. +5 −0 src/joint.cc
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3 include/ard/rbdl/model/joint.hh
@@ -91,6 +91,9 @@ namespace ard
virtual to_pointer<CjrlJoint>::type
childJoint (unsigned int jointRank) const;
+ /// \brief Get child joints.
+ virtual jointShPtrs_t childJoints () const;
+
/// \brief Get underlying rbdl joint.
virtual rbdlJoint_t rbdlJoint () const;
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5 src/joint.cc
@@ -194,6 +194,11 @@ namespace ard
return childJoints_[jointRank];
}
+ jointShPtrs_t Joint::childJoints () const
+ {
+ return childJoints_;
+ }
+
rbdlJoint_t Joint::rbdlJoint () const
{
return rbdlJoint_;

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