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Add dynamic robot getter in HumanoidDynamicRobot class.

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1 parent c1750e6 commit 94d60b97270c4dd2da393b91f38599d0ca373a81 Antonio El Khoury committed Oct 12, 2012
Showing with 8 additions and 0 deletions.
  1. +3 −0 include/ard/rbdl/model/humanoid-dynamic-robot.hh
  2. +5 −0 src/humanoid-dynamic-robot.cc
@@ -67,6 +67,9 @@ namespace ard
/// \brief Get a vector containing all the joints.
virtual std::vector<to_pointer<CjrlJoint>::type > jointVector ();
+ /// \brief Get underlying dynamic robot.
+ virtual dynamicRobotShPtr_t dynamicRobot () const;
+
/// \brief Get underlying rbdl model.
virtual rbdlModel_t rbdlModel () const;
@@ -78,6 +78,11 @@ namespace ard
return dynamicRobot_->jointVector ();
}
+ dynamicRobotShPtr_t HumanoidDynamicRobot::dynamicRobot () const
+ {
+ return dynamicRobot_;
+ }
+
rbdlModel_t HumanoidDynamicRobot::rbdlModel () const
{
return dynamicRobot_->rbdlModel ();

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