From cc4583cf6007151049bf3ba80015757bc0207e5f Mon Sep 17 00:00:00 2001
From: Megane Millan <megane.millan@inria.fr>
Date: Tue, 9 Jul 2024 14:04:44 +0200
Subject: [PATCH] [Joint] Modify default behaviour and return const

---
 include/pinocchio/multibody/joint/joint-helical.hpp          | 5 +++--
 include/pinocchio/multibody/joint/joint-prismatic.hpp        | 5 +++--
 .../pinocchio/multibody/joint/joint-revolute-unbounded.hpp   | 5 +++--
 include/pinocchio/multibody/joint/joint-revolute.hpp         | 5 +++--
 4 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/include/pinocchio/multibody/joint/joint-helical.hpp b/include/pinocchio/multibody/joint/joint-helical.hpp
index 255f28d301..dc92b2fb44 100644
--- 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
index 7512600b06..2a8233cbfc 100644
--- 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
index cb9aafe0b4..fb635e4319 100644
--- 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
index b50b520f3f..9eaeeebe62 100644
--- 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;
       }
     }