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Add child joints getter in Joint class.
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Antonio El Khoury committed Oct 12, 2012
1 parent 7546fa9 commit 22b8031
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Showing 2 changed files with 8 additions and 0 deletions.
3 changes: 3 additions & 0 deletions include/ard/rbdl/model/joint.hh
Expand Up @@ -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 changes: 5 additions & 0 deletions src/joint.cc
Expand Up @@ -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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