From 5a419cce845efbad5c8fcbd1f8bc20490201e485 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sat, 18 May 2019 10:17:34 +0200
Subject: [PATCH] Enrich API of EndEffectorTrajectory steeringMethod
---
.../steering-method/end-effector-trajectory.hh | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/include/hpp/manipulation/steering-method/end-effector-trajectory.hh b/include/hpp/manipulation/steering-method/end-effector-trajectory.hh
index 65bcaba6..7c8feee3 100644
--- a/include/hpp/manipulation/steering-method/end-effector-trajectory.hh
+++ b/include/hpp/manipulation/steering-method/end-effector-trajectory.hh
@@ -49,6 +49,11 @@ namespace hpp {
/// Set the constraint whose right hand side will vary.
void trajectoryConstraint (const constraints::ImplicitPtr_t& ic);
+ const constraints::ImplicitPtr_t& trajectoryConstraint ()
+ {
+ return constraint_;
+ }
+
/// Set the right hand side of the function from a path
/// \param se3Output set to True if the output of path must be
/// understood as SE3.
@@ -64,6 +69,11 @@ namespace hpp {
return eeTraj_;
}
+ const interval_t& timeRange () const
+ {
+ return timeRange_;
+ }
+
core::SteeringMethodPtr_t copy () const
{
EndEffectorTrajectoryPtr_t ptr (new EndEffectorTrajectory (*this));
--
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