Identifier Map generated to find corresponding nodeID to joint identifier

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@742 042f3d55-54a8-47e9-b7fb-15903f145c44

VirtualRobot/Dynamics/dynamics.h

@@ -36,14 +36,19 @@ namespace VirtualRobot
         /// returns the number of Degrees of Freedom of the dynamics system
         int getnDoF();
 
+        int getIdentifier(std::string name){return identifierMap.at(name);}
+
     protected:
         RobotNodeSetPtr rns;
         boost::shared_ptr<RigidBodyDynamics::Model> model;
         Eigen::Vector3d gravity;
+        std::map<std::string,  int> identifierMap;
 
     private:
         void toRBDL(boost::shared_ptr<RigidBodyDynamics::Model> model, RobotNodePtr node, RobotNodePtr parentNode = RobotNodePtr(), int parentID = 0);
     };
+
+    typedef boost::shared_ptr<Dynamics> DynamicsPtr;
 }
 
 #endif

VirtualRobot/examples/InverseDynamics/InverseDynamics.cpp

@@ -47,6 +47,8 @@ int main(int argc, char* argv[])
         cout << "joint space gravitational matrix:" << endl << dynamics.getGravityMatrix(q, nDof) << endl;
         cout << "joint space coriolis matrix:" << endl << dynamics.getCoriolisMatrix(q, qdot, nDof) << endl;
         cout << "joint space accelerations from forward dynamics:" << endl << dynamics.getForwardDynamics(q, qdot, tau) << endl;
+        cout << "Identifier for Elbow R:" << endl << dynamics.getIdentifier("Elbow R") << endl;
+
     }
     else
     {