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)
--
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