Added missing 'virtual' on Joint getType methods.

dartsim · May 25, 2015 · 71cd7b3 · 71cd7b3
1 parent fb0ce92
commit 71cd7b3
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Showing 12 changed files with 13 additions and 25 deletions.
diff --git a/dart/dynamics/BallJoint.h b/dart/dynamics/BallJoint.h
@@ -65,7 +65,7 @@ class BallJoint : public MultiDofJoint<3>
   virtual ~BallJoint();
 
   // Documentation inherited
-  const std::string& getType() const override;
+  virtual const std::string& getType() const override;
 
   /// Get joint type for this class
   static const std::string& getStaticType();

diff --git a/dart/dynamics/EulerJoint.h b/dart/dynamics/EulerJoint.h
@@ -103,7 +103,7 @@ class EulerJoint : public MultiDofJoint<3>
   EulerJoint& operator=(const EulerJoint& _otherJoint);
 
   // Documentation inherited
-  const std::string& getType() const override;
+  virtual const std::string& getType() const override;
 
   /// Get joint type for this class
   static const std::string& getStaticType();

diff --git a/dart/dynamics/FreeJoint.h b/dart/dynamics/FreeJoint.h
@@ -70,7 +70,7 @@ class FreeJoint : public MultiDofJoint<6>
   Properties getFreeJointProperties() const;
 
   // Documentation inherited
-  const std::string& getType() const override;
+  virtual const std::string& getType() const override;
 
   /// Get joint type for this class
   static const std::string& getStaticType();

diff --git a/dart/dynamics/Joint.h b/dart/dynamics/Joint.h
@@ -184,6 +184,9 @@ class Joint : public virtual common::Subject
   /// Get joint name
   const std::string& getName() const;
 
+  /// Gets a string representing the joint type
+  virtual const std::string& getType() const = 0;
+
   /// Set actuator type
   void setActuatorType(ActuatorType _actuatorType);
 

diff --git a/dart/dynamics/MultiDofJoint.h b/dart/dynamics/MultiDofJoint.h
@@ -945,21 +945,6 @@ MultiDofJoint<DOF>& MultiDofJoint<DOF>::operator=(
   return *this;
 }
 
-//==============================================================================
-template <size_t DOF>
-const std::string& MultiDofJoint<DOF>::getType() const
-{
-    return getStaticType();
-}
-
-template <size_t DOF>
-const std::string& MultiDofJoint<DOF>::getStaticType()
-{
-  static const std::string name = "MultiDofJoint<" + std::to_string(DOF) + ">";
-
-  return name;
-}
-
 //==============================================================================
 template <size_t DOF>
 DegreeOfFreedom* MultiDofJoint<DOF>::getDof(size_t _index)

diff --git a/dart/dynamics/PlanarJoint.h b/dart/dynamics/PlanarJoint.h
@@ -143,7 +143,7 @@ class PlanarJoint : public MultiDofJoint<3>
   PlanarJoint& operator=(const PlanarJoint& _otherJoint);
 
   // Documentation inherited
-  const std::string& getType() const override;
+  virtual const std::string& getType() const override;
 
   /// Get joint type for this class
   static const std::string& getStaticType();

diff --git a/dart/dynamics/PrismaticJoint.h b/dart/dynamics/PrismaticJoint.h
@@ -97,7 +97,7 @@ class PrismaticJoint : public SingleDofJoint
   PrismaticJoint& operator=(const PrismaticJoint& _otherJoint);
 
   // Documentation inherited
-  const std::string& getType() const override;
+  virtual const std::string& getType() const override;
 
   /// Get joint type for this class
   static const std::string& getStaticType();

diff --git a/dart/dynamics/RevoluteJoint.h b/dart/dynamics/RevoluteJoint.h
@@ -97,7 +97,7 @@ class RevoluteJoint : public SingleDofJoint
   RevoluteJoint& operator=(const RevoluteJoint& _otherJoint);
 
   // Documentation inherited
-  const std::string& getType() const override;
+  virtual const std::string& getType() const override;
 
   /// Get joint type for this class
   static const std::string& getStaticType();

diff --git a/dart/dynamics/ScrewJoint.h b/dart/dynamics/ScrewJoint.h
@@ -103,7 +103,7 @@ class ScrewJoint : public SingleDofJoint
   ScrewJoint& operator=(const ScrewJoint& _otherJoint);
 
   // Documentation inherited
-  const std::string& getType() const override;
+  virtual const std::string& getType() const override;
 
   /// Get joint type for this class
   static const std::string& getStaticType();

diff --git a/dart/dynamics/TranslationalJoint.h b/dart/dynamics/TranslationalJoint.h
@@ -68,7 +68,7 @@ class TranslationalJoint : public MultiDofJoint<3>
   Properties getTranslationalJointProperties() const;
 
   // Documentation inherited
-  const std::string& getType() const override;
+  virtual const std::string& getType() const override;
 
   /// Get joint type for this class
   static const std::string& getStaticType();

diff --git a/dart/dynamics/UniversalJoint.h b/dart/dynamics/UniversalJoint.h
@@ -98,7 +98,7 @@ class UniversalJoint : public MultiDofJoint<2>
   UniversalJoint& operator=(const UniversalJoint& _otherJoint);
 
   // Documentation inherited
-  const std::string& getType() const override;
+  virtual const std::string& getType() const override;
 
   /// Get joint type for this class
   static const std::string& getStaticType();

diff --git a/dart/dynamics/WeldJoint.h b/dart/dynamics/WeldJoint.h
@@ -69,7 +69,7 @@ class WeldJoint : public ZeroDofJoint
   Properties getWeldJointProperties() const;
 
   // Documentation inherited
-  const std::string& getType() const override;
+  virtual const std::string& getType() const override;
 
   /// Get joint type for this class
   static const std::string& getStaticType();