From 78e955c5b835f4d5108263badc0786e7db50c181 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 15 Dec 2011 12:17:09 +0100
Subject: [PATCH] Allow access by joint name in entity Dynamic.
---
src/dynamic.cpp | 20 ++++++++++++++------
1 file changed, 14 insertions(+), 6 deletions(-)
diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index d9976a3..05d91ca 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -1271,13 +1271,21 @@ CjrlJoint* Dynamic::getJointByName( const std::string& jointName )
else
return m_HDR->rightAnkle()->childJoint(0);
- } else {
- throw ExceptionDynamic(ExceptionDynamic::GENERIC,
- jointName + " is not a valid name."
- " Valid names are \n"
- "gaze, left-ankle, right-ankle, left-wrist,"
- " right-wrist, waist, chest.");
}
+ else {
+ std::vector< CjrlJoint* > jv = m_HDR->jointVector ();
+ for (std::vector< CjrlJoint* >::const_iterator it = jv.begin();
+ it != jv.end(); it++) {
+ if ((*it)->getName () == jointName) {
+ return *it;
+ }
+ }
+ }
+ throw ExceptionDynamic(ExceptionDynamic::GENERIC,
+ jointName + " is not a valid name."
+ " Valid names are \n"
+ "gaze, left-ankle, right-ankle, left-wrist,"
+ " right-wrist, waist, chest, or any joint name.");
}
void Dynamic::cmd_createOpPointSignals( const std::string& opPointName,
--
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