[cpp] Add some getter and setter to JointTorque
@@ -44,6 +44,33 @@ class JointTorque : public LinearConstraint {
virtual void computeInverseDynamics (const Vector& q, const Vector& v, const Vector& a,
Vector& tau) = 0;
+ const Vector& lowerBounds () const
+ { return m_lower; }
+
+ void lowerBounds (const Vector& lb)
+ {
+ assert(lb.size() == m_lower.size());
+ m_lower = lb;
+ }
+
+ const Vector& upperBounds () const
+ { return m_upper; }
+
+ void upperBounds (const Vector& ub)
+ {
+ assert(ub.size() == m_upper.size());
+ m_upper = ub;
+ }
+
+ const Vector& frictionCoeffs () const
+ { return m_frictionCoeffs; }
+
+ void frictionCoeffs (const Vector& fc)
+ {
+ assert(fc.size() == m_frictionCoeffs.size());
+ m_frictionCoeffs = fc;
+ }
+
protected:
/**
* \param lowerTlimit lower torque limit
