Merge pull request #649 from dartsim/grey/multidofjointaddon

Make a default argument for MultiDofJointAddon
dartsim · Mar 29, 2016 · 836d16f · 836d16f
2 parents 878d3a4 + 3743eeb
commit 836d16f
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/dart/dynamics/detail/MultiDofJointProperties.h b/dart/dynamics/detail/MultiDofJointProperties.h
@@ -165,7 +165,8 @@ class MultiDofJointAddon final :
   MultiDofJointAddon(const MultiDofJointAddon&) = delete;
 
   MultiDofJointAddon(common::AddonManager* mgr,
-        const typename MultiDofJointAddon::PropertiesData& properties);
+        const typename MultiDofJointAddon::PropertiesData& properties =
+            typename MultiDofJointAddon::PropertiesData());
 
   constexpr static size_t NumDofs = DOF;
   using Vector = Eigen::Matrix<double, DOF, 1>;

diff --git a/unittests/testAddon.cpp b/unittests/testAddon.cpp
@@ -573,6 +573,9 @@ TEST(Addon, Joints)
   EXPECT_TRUE(usedSpecializedAddonAccess); usedSpecializedAddonAccess = false;
   universal->getUniversalJointAddon();
   EXPECT_TRUE(usedSpecializedAddonAccess); usedSpecializedAddonAccess = false;
+
+  // Regression test for issue #645
+  universal->getMultiDofJointAddon(true);
 }
 
 TEST(Addon, Duplication)