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Resolves potential linking error in python bindings #9820

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merged 1 commit into from
Oct 26, 2018
Merged

Resolves potential linking error in python bindings #9820

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9 changes: 7 additions & 2 deletions geometry/internal_frame.cc
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Original file line number Diff line number Diff line change
@@ -1,11 +1,11 @@
#include "drake/geometry/internal_frame.h"

#include "drake/common/never_destroyed.h"

namespace drake {
namespace geometry {
namespace internal {

const FrameId InternalFrame::kWorldFrame{FrameId::get_new_id()};

InternalFrame::InternalFrame() {}

InternalFrame::InternalFrame(SourceId source_id, FrameId frame_id,
Expand All @@ -30,6 +30,11 @@ bool InternalFrame::operator!=(const InternalFrame& other) const {
return !(*this == other);
}

FrameId InternalFrame::world_frame_id() {
static const never_destroyed<FrameId> kWorldFrame{FrameId::get_new_id()};
return kWorldFrame.access();
}

} // namespace internal
} // namespace geometry
} // namespace drake
5 changes: 1 addition & 4 deletions geometry/internal_frame.h
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Expand Up @@ -144,7 +144,7 @@ class InternalFrame {
instances of SceneGraph. The world frame will eventually have an arbitrary
number of child frames and geometries; but there will always only be one
world frame. */
static FrameId world_frame_id() { return kWorldFrame; }
static FrameId world_frame_id();

/** Reports the reserved frame group for the world frame. */
static int world_frame_group() {
Expand Down Expand Up @@ -198,9 +198,6 @@ class InternalFrame {
// that were hung on geometries that were already rigidly affixed.
// It does *not* include geometries hung on child frames.
std::unordered_set<GeometryId> child_geometries_;

// The frame identifier of the world frame.
static const FrameId kWorldFrame;
};

} // namespace internal
Expand Down