Add protected ankle getter in Foot.

laas · Oct 16, 2012 · e599ba7 · e599ba7
1 parent 7293a61
commit e599ba7
Show file tree

Hide file tree

Showing 2 changed files with 10 additions and 5 deletions.
diff --git a/include/ard/rbdl/model/foot.hh b/include/ard/rbdl/model/foot.hh
@@ -84,6 +84,10 @@ namespace ard
       ///
       /// \param inCoordinates coordinates of the ankle joint center
       virtual void setAnklePositionInLocalFrame (const vector3d& inCoordinates);
+
+    protected:
+      /// \brief Get the ankle to which the foot is attached
+      virtual void associatedAnkle (jointWkPtr_t& ankle) const;
 
     private:
       // Associated ankle joint attribute.

diff --git a/src/foot.cc b/src/foot.cc
@@ -60,11 +60,7 @@ namespace ard
     Foot::Foot (const Foot& foot) :
       boost::enable_shared_from_this<Foot> ()
     {
-      if (foot.associatedAnkle ())
-	getPtrFromBase (ankleJoint_, foot.associatedAnkle ());
-      else
-	ankleJoint_.reset ();
-
+      foot.associatedAnkle (ankleJoint_);
       foot.getSoleSize (soleLength_, soleWidth_);
       foot.getAnklePositionInLocalFrame (ankleInLocalFrame_);
     }
@@ -105,5 +101,10 @@ namespace ard
       ankleInLocalFrame_ = coordinates;
     }
 
+    void Foot::associatedAnkle (jointWkPtr_t& ankle) const
+    {
+      ankle = ankleJoint_;
+    }
+
   } // end of namespace rbdl.
 } // end of namespace ard.