Merge pull request #83 from gergondet/topic/MBGMakeMultiBodyConst

Mark MultiBodyGraph::makeMultiBody as const
jrl-umi3218 · May 26, 2021 · d911bd1 · d911bd1
2 parents 62d68bf + f52e1c9
commit d911bd1
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/src/RBDyn/MultiBodyGraph.cpp b/src/RBDyn/MultiBodyGraph.cpp
@@ -127,15 +127,15 @@ std::size_t MultiBodyGraph::nrJoints() const
 MultiBody MultiBodyGraph::makeMultiBody(const std::string & rootBodyName,
                                         bool isFixed,
                                         const sva::PTransformd & X_0_j0,
-                                        const sva::PTransformd & X_b0_j0)
+                                        const sva::PTransformd & X_b0_j0) const
 {
   return makeMultiBody(rootBodyName, isFixed ? Joint::Fixed : Joint::Free, X_0_j0, X_b0_j0);
 }
 
 MultiBody MultiBodyGraph::makeMultiBody(const std::string & rootBodyName,
                                         Joint::Type rootJointType,
                                         const sva::PTransformd & X_0_j0,
-                                        const sva::PTransformd & X_b0_j0)
+                                        const sva::PTransformd & X_b0_j0) const
 {
   return makeMultiBody(rootBodyName, rootJointType, Eigen::Vector3d::UnitZ(), X_0_j0, X_b0_j0);
 }
@@ -144,7 +144,7 @@ MultiBody MultiBodyGraph::makeMultiBody(const std::string & rootBodyName,
                                         Joint::Type rootJointType,
                                         const Eigen::Vector3d & axis,
                                         const sva::PTransformd & X_0_j0,
-                                        const sva::PTransformd & X_b0_j0)
+                                        const sva::PTransformd & X_b0_j0) const
 {
   using namespace Eigen;
 

diff --git a/src/RBDyn/RBDyn/MultiBodyGraph.h b/src/RBDyn/RBDyn/MultiBodyGraph.h
@@ -137,7 +137,7 @@ class RBDYN_DLLAPI MultiBodyGraph
   MultiBody makeMultiBody(const std::string & rootBodyName,
                           bool isFixed,
                           const sva::PTransformd & X_0_j0 = sva::PTransformd::Identity(),
-                          const sva::PTransformd & X_b0_j0 = sva::PTransformd::Identity());
+                          const sva::PTransformd & X_b0_j0 = sva::PTransformd::Identity()) const;
 
   /**
    * Create a MultiBody from the graph.
@@ -150,7 +150,7 @@ class RBDYN_DLLAPI MultiBodyGraph
   MultiBody makeMultiBody(const std::string & rootBodyName,
                           Joint::Type rootJointType,
                           const sva::PTransformd & X_0_j0 = sva::PTransformd::Identity(),
-                          const sva::PTransformd & X_b0_j0 = sva::PTransformd::Identity());
+                          const sva::PTransformd & X_b0_j0 = sva::PTransformd::Identity()) const;
 
   /**
    * Create a MultiBody from the graph.
@@ -165,7 +165,7 @@ class RBDYN_DLLAPI MultiBodyGraph
                           Joint::Type rootJointType,
                           const Eigen::Vector3d & axis,
                           const sva::PTransformd & X_0_j0 = sva::PTransformd::Identity(),
-                          const sva::PTransformd & X_b0_j0 = sva::PTransformd::Identity());
+                          const sva::PTransformd & X_b0_j0 = sva::PTransformd::Identity()) const;
 
   /**
    * Remove a joint (and successor joints and bodies) from the graph.