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Add operator[] to iDynTree Vectors #596

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merged 3 commits into from
Nov 11, 2019
Merged

Add operator[] to iDynTree Vectors #596

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36930b4
add operator[] to VectorDynSize
GiulioRomualdi Nov 10, 2019
a535eb8
add operator[] to VectorFixSize
GiulioRomualdi Nov 10, 2019
4ea19e0
update changelog
GiulioRomualdi Nov 10, 2019
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2 changes: 2 additions & 0 deletions doc/releases/v0_12.md
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,8 @@ to normalize errors or as initial points of a nonlinear optimization procedure.
* Fixed implementation of Transform::log() method (https://github.com/robotology/idyntree/pull/562)
* Fixed implementation of SpatialMotionVector::exp() method (https://github.com/robotology/idyntree/pull/562)
* Add nameIsValid attribute to iDynTree::SolidShape class.
* Add operator[] method to `iDynTree::VectorDynSize` (https://github.com/robotology/idyntree/pull/596)
* Add operator[] method to `iDynTree::VectorFixSize` (https://github.com/robotology/idyntree/pull/596)

### `Model`
* Implement `getTotalMass()` method for Model class
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4 changes: 4 additions & 0 deletions src/core/include/iDynTree/Core/VectorDynSize.h
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Expand Up @@ -119,6 +119,10 @@ namespace iDynTree

double& operator()(const unsigned int index);

double operator[](const unsigned int index) const;

double& operator[](const unsigned int index);

double getVal(const unsigned int index) const;

bool setVal(const unsigned int index, const double new_el);
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19 changes: 18 additions & 1 deletion src/core/include/iDynTree/Core/VectorFixSize.h
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Expand Up @@ -63,6 +63,10 @@ namespace iDynTree

double& operator()(const unsigned int index);

double operator[](const unsigned int index) const;

double& operator[](const unsigned int index);

double getVal(const unsigned int index) const;

bool setVal(const unsigned int index, const double new_el);
Expand Down Expand Up @@ -144,7 +148,7 @@ namespace iDynTree
template<unsigned int VecSize>
VectorFixSize<VecSize>::VectorFixSize()
{

}


Expand Down Expand Up @@ -214,6 +218,19 @@ namespace iDynTree
return this->m_data[index];
}

template<unsigned int VecSize>
double VectorFixSize<VecSize>::operator[](const unsigned int index) const
{
assert(index < VecSize);
return this->m_data[index];
}

template<unsigned int VecSize>
double & VectorFixSize<VecSize>::operator[](const unsigned int index)
{
assert(index < VecSize);
return this->m_data[index];
}

template<unsigned int VecSize>
double VectorFixSize<VecSize>::getVal(const unsigned int index) const
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12 changes: 12 additions & 0 deletions src/core/src/VectorDynSize.cpp
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Expand Up @@ -153,6 +153,18 @@ double VectorDynSize::operator()(unsigned int index) const
return this->m_data[index];
}

double& VectorDynSize::operator[](unsigned int index)
{
assert(index < this->size());
return this->m_data[index];
}

double VectorDynSize::operator[](unsigned int index) const
{
assert(index < this->size());
return this->m_data[index];
}

double VectorDynSize::getVal(const unsigned int index) const
{
if( index >= this->size() )
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