[Joint] Modify default behaviour and return const

stack-of-tasks · Jul 9, 2024 · cc4583c · cc4583c
1 parent 1894c5f
commit cc4583c
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Showing 4 changed files with 12 additions and 8 deletions.
diff --git a/include/pinocchio/multibody/joint/joint-helical.hpp b/include/pinocchio/multibody/joint/joint-helical.hpp
@@ -925,7 +925,7 @@ namespace pinocchio
       return classname();
     }
 
-    Vector3 getMotionAxis()
+    Vector3 getMotionAxis() const
     {
       switch (axis)
       {
@@ -936,7 +936,8 @@ namespace pinocchio
       case 2:
         return Vector3::UnitZ();
       default:
-        return Vector3::Zero();
+        assert(false && "must never happen");
+        break;
       }
     }
 

diff --git a/include/pinocchio/multibody/joint/joint-prismatic.hpp b/include/pinocchio/multibody/joint/joint-prismatic.hpp
@@ -744,7 +744,7 @@ namespace pinocchio
       return classname();
     }
 
-    Vector3 getMotionAxis()
+    Vector3 getMotionAxis() const
     {
       switch (axis)
       {
@@ -755,7 +755,8 @@ namespace pinocchio
       case 2:
         return Vector3::UnitZ();
       default:
-        return Vector3::Zero();
+        assert(false && "must never happen");
+        break;
       }
     }
 

diff --git a/include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp b/include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp
@@ -202,7 +202,7 @@ namespace pinocchio
       return classname();
     }
 
-    Vector3 getMotionAxis()
+    Vector3 getMotionAxis() const
     {
       switch (axis)
       {
@@ -213,7 +213,8 @@ namespace pinocchio
       case 2:
         return Vector3::UnitZ();
       default:
-        return Vector3::Zero();
+        assert(false && "must never happen");
+        break;
       }
     }
 

diff --git a/include/pinocchio/multibody/joint/joint-revolute.hpp b/include/pinocchio/multibody/joint/joint-revolute.hpp
@@ -840,7 +840,7 @@ namespace pinocchio
       return classname();
     }
 
-    Vector3 getMotionAxis()
+    Vector3 getMotionAxis() const
     {
       switch (axis)
       {
@@ -851,7 +851,8 @@ namespace pinocchio
       case 2:
         return Vector3::UnitZ();
       default:
-        return Vector3::Zero();
+        assert(false && "must never happen");
+        break;
       }
     }