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Humanoid Path Planner
hpp-model
Commits
ce88911d
Commit
ce88911d
authored
Apr 05, 2016
by
Joseph Mirabel
Committed by
Joseph Mirabel
Apr 05, 2016
Browse files
When Joint::positionInParentFrame changes, set Device::upToDate_ to false.
parent
7cd75ac1
Changes
2
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include/hpp/model/joint.hh
View file @
ce88911d
...
...
@@ -177,10 +177,7 @@ namespace hpp {
return
positionInParentFrame_
;
}
/// Set position of joint in parent frame
void
positionInParentFrame
(
const
Transform3f
&
p
)
{
positionInParentFrame_
=
p
;
}
void
positionInParentFrame
(
const
Transform3f
&
p
);
///\}
/// \name Bounds
...
...
src/joint.cc
View file @
ce88911d
...
...
@@ -107,6 +107,13 @@ namespace hpp {
robot
->
computeMass
();
}
void
Joint
::
positionInParentFrame
(
const
Transform3f
&
p
)
{
DevicePtr_t
r
=
robot_
.
lock
();
if
(
r
)
r
->
upToDate_
=
false
;
positionInParentFrame_
=
p
;
}
void
Joint
::
isBounded
(
size_type
rank
,
bool
bounded
)
{
configuration_
->
isBounded
(
rank
,
bounded
);
...
...
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