Add protected root joint getter in DynamicRobot.

laas · Oct 16, 2012 · 7293a61 · 7293a61
1 parent 045c22d
commit 7293a61
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Showing 2 changed files with 9 additions and 5 deletions.
diff --git a/include/ard/rbdl/model/dynamic-robot.hh b/include/ard/rbdl/model/dynamic-robot.hh
@@ -333,6 +333,9 @@ namespace ard
       /// \retval true if success, false if failure
       virtual bool buildRbdlModel ();
 
+      /// \brief Get the root joint of the robot.
+      virtual void rootJoint (jointShPtr_t& joint) const;
+
       /// \brief Set the root joint of the robot.
       virtual void rootJoint (joint_t& joint);
 

diff --git a/src/dynamic-robot.cc b/src/dynamic-robot.cc
@@ -61,11 +61,7 @@ namespace ard
     DynamicRobot::DynamicRobot (const DynamicRobot& robot) :
       boost::enable_shared_from_this<DynamicRobot> ()
     {
-      if (robot.rootJoint ())
+      robot.rootJoint (rootJoint_);
-	getPtrFromBase (rootJoint_, robot.rootJoint ());
-      else
-	rootJoint_.reset ();
-
       robot.jointVector (jointVector_);
       rbdlModel_ = robot.rbdlModel ();
       configuration_ = robot.currentConfiguration ();
@@ -484,6 +480,11 @@ namespace ard
       return true;
     }
 
+    void DynamicRobot::rootJoint (jointShPtr_t& joint) const
+    {
+      joint = rootJoint_;
+    }
+
     void DynamicRobot::rootJoint (joint_t& joint)
     {
       rootJoint_ = joint.shared_from_this ();