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Add linked body getter in Joint class.

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commit 26e231948809f6d8befae0cd0150ba8f7ed41f20 1 parent 22b8031
Antonio El Khoury authored
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
@@ -291,6 +291,9 @@ namespace ard
/// \brief Get a pointer to the linked body (if any).
virtual to_pointer<CjrlBody>::type linkedBody () const;
+ /// \brief Get a shared pointer to the linked body.
+ virtual void linkedBody (bodyShPtr_t& body) const;
+
/// \brief Link a body to the joint.
virtual void setLinkedBody (CjrlBody& inBody);
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5 src/joint.cc
@@ -342,6 +342,11 @@ namespace ard
return linkedBody_;
}
+ void Joint::linkedBody (bodyShPtr_t& body) const
+ {
+ body = linkedBody_;
+ }
+
void Joint::setLinkedBody (CjrlBody& body)
{
bodyPtr_t bodyPtr;
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