From ecfb954c1c27c1803152c91233ed0d98cbbe80c2 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 8 Dec 2011 14:41:45 +0100
Subject: [PATCH] Added an accessor to the support signal.
---
src/solver-dyn-reduced.cpp | 8 +++++++-
src/solver-dyn-reduced.h | 2 ++
2 files changed, 9 insertions(+), 1 deletion(-)
diff --git a/src/solver-dyn-reduced.cpp b/src/solver-dyn-reduced.cpp
index e271cf5..b69b2dc 100644
--- a/src/solver-dyn-reduced.cpp
+++ b/src/solver-dyn-reduced.cpp
@@ -14,7 +14,7 @@
* with sot-dyninv. If not, see <http://www.gnu.org/licenses/>.
*/
-#define VP_DEBUG
+//#define VP_DEBUG
#define VP_DEBUG_MODE 50
#include <sot/core/debug.hh>
#ifdef VP_DEBUG
@@ -371,6 +371,12 @@ namespace dynamicgraph
}
}
+ SolverDynReduced::matrixSINPtr SolverDynReduced::getSupportSIN( const std::string & contacName )
+ {
+ return contactMap[contacName].supportSIN;
+ }
+
+
/* --- INIT SOLVER ------------------------------------------------------ */
/* --- INIT SOLVER ------------------------------------------------------ */
diff --git a/src/solver-dyn-reduced.h b/src/solver-dyn-reduced.h
index a4a9969..7d51de0 100644
--- a/src/solver-dyn-reduced.h
+++ b/src/solver-dyn-reduced.h
@@ -153,6 +153,8 @@ namespace dynamicgraph {
void removeContact( const std::string & name );
void dispContacts( std::ostream& os ) const;
+ matrixSINPtr getSupportSIN( const std::string & contacName );
+
public: /* --- COMMANDS --- */
void debugOnce( void );
--
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