From 826ef42b943bdbb95c5e1ef6d7d7d6303c3db545 Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan <shernand@iri.upc.edu> Date: Wed, 17 Jul 2024 11:49:19 +0200 Subject: [PATCH] Added a function to get a pointer to the base class memort buffer. --- include/dynamixel_robot_gazebo/dynamixel_device.h | 1 + src/dynamixel_device.cpp | 5 +++++ 2 files changed, 6 insertions(+) diff --git a/include/dynamixel_robot_gazebo/dynamixel_device.h b/include/dynamixel_robot_gazebo/dynamixel_device.h index 9795c2b..9e9fa86 100644 --- a/include/dynamixel_robot_gazebo/dynamixel_device.h +++ b/include/dynamixel_robot_gazebo/dynamixel_device.h @@ -31,6 +31,7 @@ namespace dynamixel_robot_gazebo virtual void update(const ros::Duration& period)=0; unsigned char get_id(void); std::string get_name(void); + unsigned char *get_memory(void); virtual ~CDynDevice(); }; } diff --git a/src/dynamixel_device.cpp b/src/dynamixel_device.cpp index 13c2090..eca8b2f 100644 --- a/src/dynamixel_device.cpp +++ b/src/dynamixel_device.cpp @@ -81,6 +81,11 @@ namespace dynamixel_robot_gazebo return this->name; } + unsigned char *CDynDevice::get_memory(void) + { + return this->memory; + } + CDynDevice::~CDynDevice() { if(this->memory!=NULL) -- GitLab