From cf27ce01e06b880e8bcb2e26f95ec04281f157e6 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Tue, 6 Oct 2020 07:57:03 -0500
Subject: [PATCH] Expose transpose method for Joint Waypoint

---
 .../include/tesseract_command_language/joint_waypoint.h       | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/tesseract/tesseract_planning/tesseract_command_language/include/tesseract_command_language/joint_waypoint.h b/tesseract/tesseract_planning/tesseract_command_language/include/tesseract_command_language/joint_waypoint.h
index 0dcbd94def5..a9e9052ab06 100644
--- a/tesseract/tesseract_planning/tesseract_command_language/include/tesseract_command_language/joint_waypoint.h
+++ b/tesseract/tesseract_planning/tesseract_command_language/include/tesseract_command_language/joint_waypoint.h
@@ -128,6 +128,8 @@ class JointWaypoint
   // Eigen Container //
   /////////////////////
 
+  using ConstTransposeReturnType = Eigen::VectorXd::ConstTransposeReturnType;
+
   ////////////////////////
   // Eigen Constructors //
   ////////////////////////
@@ -158,6 +160,8 @@ class JointWaypoint
   inline double norm() const { return waypoint.norm(); }
   /** @returns true if two are approximate */
   inline bool isApprox(const Eigen::VectorXd& other, double prec = 1e-12) { return waypoint.isApprox(other, prec); }
+  /** @returns the transpose of the joint positions */
+  inline ConstTransposeReturnType transpose() const { return waypoint.transpose(); }
 
   /////////////////////
   // Eigen Operators //