From d1e7bfedf8118c2b3627ab4777d2b9bf06513228 Mon Sep 17 00:00:00 2001
From: armarx-user <armarx-user@kit.edu>
Date: Sat, 15 Dec 2018 15:02:14 +0100
Subject: [PATCH] Added access to owner class for JointControllers
---
.../components/units/RobotUnit/Devices/ControlDevice.cpp | 5 +++++
.../components/units/RobotUnit/Devices/ControlDevice.h | 2 ++
2 files changed, 7 insertions(+)
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.cpp b/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.cpp
index 6909bbae9..b7096f0a9 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.cpp
@@ -150,4 +150,9 @@ namespace armarx
ARMARX_CHECK_IS_NULL(owner);
}
+ RobotUnitModule::Devices* ControlDevice::getOwner() const
+ {
+ return owner;
+ }
+
}
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h b/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h
index 126d59346..7376ab747 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h
@@ -106,6 +106,8 @@ namespace armarx
* @param timeSinceLastIteration The time delta between the last two updates of \ref SensorValueBase "SensorValues"
*/
virtual void rtWriteTargetValues(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) {}
+ RobotUnitModule::Devices* getOwner() const;
+
protected:
/**
* @brief adds the Joint controller to this ControlDevice
--
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