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Add parent joint getter in Joint class.

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commit 7546fa924df2e046600a417577fdb6fbd799182e 1 parent 5c495b6
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
@@ -78,6 +78,9 @@ namespace ard
/// still exist once the shared pointer has been deleted.
virtual to_pointer<CjrlJoint>::type parentJoint () const;
+ /// \brief Get shared pointer to parent joint.
+ virtual void parentJoint (jointShPtr_t& joint) const;
+
/// \brief Add a child joint.
virtual bool addChildJoint (CjrlJoint& joint);
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5 src/joint.cc
@@ -167,6 +167,11 @@ namespace ard
return getSharedPointer (parentJoint_);
}
+ void Joint::parentJoint (jointShPtr_t& joint) const
+ {
+ joint = getSharedPointer (parentJoint_);
+ }
+
bool Joint::addChildJoint (CjrlJoint& joint)
{
// Link joints in abstract robot dynamics. The rbdl joints
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