From f8a9997ea6b9c771ca063559cbaadb51ff06d6b1 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 29 Sep 2016 13:34:53 +0200
Subject: [PATCH] Add Device::clone
---
include/hpp/manipulation/device.hh | 8 ++++++++
src/device.cc | 9 ++++++++-
2 files changed, 16 insertions(+), 1 deletion(-)
diff --git a/include/hpp/manipulation/device.hh b/include/hpp/manipulation/device.hh
index ac91cfd..1008087 100644
--- a/include/hpp/manipulation/device.hh
+++ b/include/hpp/manipulation/device.hh
@@ -68,6 +68,8 @@ namespace hpp {
void setRobotRootPosition (const std::string& robotName,
const Transform3f& positionWRTParentJoint);
+ virtual pinocchio::DevicePtr_t clone () const;
+
/// \name Collisions
/// \{
@@ -95,6 +97,12 @@ namespace hpp {
self_ = self;
}
+ void initCopy (const DeviceWkPtr_t& self, const Device& other)
+ {
+ Parent_t::initCopy (self, other);
+ self_ = self;
+ }
+
private:
DeviceWkPtr_t self_;
diff --git a/src/device.cc b/src/device.cc
index 75e9c72..19a83f1 100644
--- a/src/device.cc
+++ b/src/device.cc
@@ -32,6 +32,14 @@ namespace hpp {
using se3::Frame;
using se3::FrameIndex;
+ pinocchio::DevicePtr_t Device::clone () const
+ {
+ Device* ptr = new Device(*this);
+ DevicePtr_t shPtr (ptr);
+ ptr->initCopy (shPtr, *this);
+ return shPtr;
+ }
+
void Device::setRobotRootPosition (const std::string& rn,
const Transform3f& t)
{
@@ -99,6 +107,5 @@ namespace hpp {
Containers_t::print <GripperPtr_t> (os);
return os;
}
-
} // namespace manipulation
} // namespace hpp
--
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