From fb002db0d9df8f7d7c76bb1f85d331ea2593e9e4 Mon Sep 17 00:00:00 2001
From: Francois Keith <francois.keith@inrialpes.fr>
Date: Wed, 30 Nov 2011 22:46:09 +0100
Subject: [PATCH] Add the toes to the list of joints accessible with their
names.
---
src/dynamic.cpp | 18 ++++++++++++++++++
1 file changed, 18 insertions(+)
diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index 4e0f8a8..d9976a3 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -1253,6 +1253,24 @@ CjrlJoint* Dynamic::getJointByName( const std::string& jointName )
return m_HDR->chest();
} else if (jointName == "gaze") {
return m_HDR->gazeJoint();
+ }
+
+ // left toe
+ else if (jointName == "left-toe")
+ {
+ if (m_HDR->leftAnkle()->countChildJoints () == 0)
+ throw ExceptionDynamic(ExceptionDynamic::GENERIC," The robot has no toes");
+ else
+ return m_HDR->leftAnkle()->childJoint(0);
+ }
+
+ // right toe
+ else if (jointName == "right-toe") {
+ if (m_HDR->rightAnkle()->countChildJoints () == 0)
+ throw ExceptionDynamic(ExceptionDynamic::GENERIC," The robot has no toes");
+ else
+ return m_HDR->rightAnkle()->childJoint(0);
+
} else {
throw ExceptionDynamic(ExceptionDynamic::GENERIC,
jointName + " is not a valid name."
--
GitLab