Expose individual bodies NDOF effector

[joaogvcarneiro]

• Tickets addressed: Expose individual bodies in NDOF effectors #1116
• Review: By commit
• Merge strategy: Merge (no squash)

Description

The commits first run through spinningBodiesNDOF, and then move onto linearTranslationBodiesNDOF. First, all SpinningBody and TranslatingBody structures are made shared_ptr. Then, the .i files are changed appropriately to accommodate the use of shared pointers. Finally, a getter method is added for each body so that they can be changed in Python.

Verification

All tests pass as expected.

Documentation

N/A.

Future work

N/A.

[schaubh]

Nice PR. Thanks for upgrading both effectors. Some todos:

• need to deprecate the use of the all effector class name
• I don't see any unit tests checking that we can change values on the fly. We should test this in a unit test for both effectors.

[schaubh]

This is going to break existing code. I agree with the fix, but can we deprecate this class name fix? Could we use

class MyClass {
    // ...
};

using OtherName = MyClass;

OtherName x;   // same as MyClass

to achieve this and keep backwards compatibility for a year?

Next question, can we give a deprecation warning if someone uses the old name?