Add accessors (#419)

* edit: joint.hpp add accessors of scale and offset * edit: segment.hpp add accessor of f_tip * edit: rigidbodyinertia.hpp add accessor of h * edit: rigidbodyinertia.hpp change return types of getMass() and getRotationalInertia() * edit: TreeFkSolverPos_recursive,TreeJntToJacSolver privat variale this->tree to a const reference * edit: rigidbodyinertia.hpp const double& getMass() -> double getMass() * (joint) Update return types and docstrings * Revert class member type change Not ABI compatible * (joint) change return types * Revert class member ref change Not ABI compatible * (RigidBodyInertia) revert return type change Not ABI compatible * Add missing docstring * edit : segment.hpp getFrameToTipRaw -> getFrameToTipZero add docstring to get FrameToTipZero * edit: segment.hpp add docstring to get FrameToTipZero Co-authored-by: Matthijs van der Burgh <MatthijsBurgh@outlook.com>
orocos · Nov 27, 2022 · 9a35f0a · 9a35f0a
1 parent 4cc7cf9
commit 9a35f0a
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diff --git a/orocos_kdl/src/joint.hpp b/orocos_kdl/src/joint.hpp
@@ -192,6 +192,26 @@ namespace KDL {
             }
         };
 
+        /**
+         * Request the scale of the joint.
+         *
+         * @return const reference to the scale of the joint
+         */
+        const double& getScale() const
+        {
+            return scale;
+        }
+
+        /**
+         * Request the offset of the joint.
+         *
+         * @return const reference to the offset of the joint
+         */
+        const double& getOffset() const
+        {
+            return offset;
+        }
+
         /**
          * Request the inertia of the joint.
          *
@@ -222,6 +242,26 @@ namespace KDL {
             return stiffness;
         };
 
+        /**
+         * Request the axis of the joint.
+         *
+         * @return const reference to the axis of the joint
+         */
+        const Vector& getAxis() const
+        {
+            return axis;
+        }
+
+        /**
+         * Request the origin of the joint.
+         *
+         * @return const reference to the origin of the joint
+         */
+        const Vector& getOrigin() const
+        {
+            return origin;
+        }
+
         virtual ~Joint();
 
     private:

diff --git a/orocos_kdl/src/rigidbodyinertia.hpp b/orocos_kdl/src/rigidbodyinertia.hpp
@@ -71,7 +71,15 @@ namespace KDL {
         double getMass() const{
             return m;
         };
-
+
+        /**
+         * Get the spatial momentum of the rigid body
+         */
+        const Vector& getSpatialMomentum() const
+        {
+            return h;
+        }
+
         /**
          * Get the center of gravity of the rigid body
          */

diff --git a/orocos_kdl/src/segment.hpp b/orocos_kdl/src/segment.hpp
@@ -159,6 +159,18 @@ namespace KDL {
          * @param f_tip_new pose from the joint end to the tip of the segment
          */
         void setFrameToTip(const Frame& f_tip_new);
+
+        /**
+         * Request the pose from the end of the joint to the tip of the segment
+         * at joint position 0.
+         * 
+         * @return const reference to the pose from the end of the joint to the tip of the segment
+         * at joint position 0
+         */
+        const Frame& getFrameToTipZero() const
+        {
+            return f_tip;
+        }
     };
 }//end of namespace KDL