Add parent joint getter in Joint class.

laas · Oct 12, 2012 · 7546fa9 · 7546fa9
1 parent 5c495b6
commit 7546fa9
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diff --git a/include/ard/rbdl/model/joint.hh b/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);
 

diff --git a/src/joint.cc b/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