fixup

tesseract-robotics · May 28, 2024 · b5c4e64 · b5c4e64
1 parent 3d80638
commit b5c4e64
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Showing 3 changed files with 17 additions and 12 deletions.
diff --git a/trajopt_ifopt/trajopt/include/trajopt_ifopt/trajopt/variable_sets/nodes_observer.h b/trajopt_ifopt/trajopt/include/trajopt_ifopt/trajopt/variable_sets/nodes_observer.h
@@ -39,9 +39,8 @@ class NodesVariables;
 /**
  * @brief Base class to receive up-to-date values of the NodeVariables.
  *
- * This class registers with the node variables and everytime the positions or
- * velocities of a node change, the subject updates this class by calling the
- * UpdatePolynomials() method.
+ * This class registers with the node variables and everytime a node changes,
+ * the subject updates this class by calling the UpdatePolynomials() method.
  *
  * Used by spline.h
  *

diff --git a/trajopt_ifopt/trajopt/include/trajopt_ifopt/trajopt/variable_sets/var.h b/trajopt_ifopt/trajopt/include/trajopt_ifopt/trajopt/variable_sets/var.h
@@ -93,16 +93,11 @@ class Var
   Var(Var&&) = default;
   Var& operator=(Var&&) = default;
 
-  Eigen::Index getIndex() const { return index_; }
-  Eigen::Index size() const { return length_; }
+  Eigen::Index getIndex() const;
+  Eigen::Index size() const;
 
-  void incrementIndex(Eigen::Index value) { index_ += value; }
-  void setVariables(const Eigen::Ref<const Eigen::VectorXd>& x)
-  {
-    assert(index_ > -1 && index_ < x.size());
-    assert(length_ > 0 && (index_ + length_) < x.size());
-    values_ = x.segment(index_, length_);
-  }
+  void incrementIndex(Eigen::Index value);
+  void setVariables(const Eigen::Ref<const Eigen::VectorXd>& x);
 
   template <typename T>
   const T& value() const

diff --git a/trajopt_ifopt/trajopt/src/variable_sets/var.cpp b/trajopt_ifopt/trajopt/src/variable_sets/var.cpp
@@ -23,4 +23,15 @@ Var::Var(Eigen::Index index, Eigen::Index length, std::string identifier, std::v
 {
 }
 
+Eigen::Index Var::getIndex() const { return index_; }
+Eigen::Index Var::size() const { return length_; }
+
+void Var::incrementIndex(Eigen::Index value) { index_ += value; }
+void Var::setVariables(const Eigen::Ref<const Eigen::VectorXd>& x)
+{
+  assert(index_ > -1 && index_ < x.size());
+  assert(length_ > 0 && (index_ + length_) < x.size());
+  values_ = x.segment(index_, length_);
+}
+
 }  // namespace trajopt_ifopt