Implements a method to get the link inertia #2218
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Signed-off-by: Voldivh <[email protected]>
Signed-off-by: Voldivh <[email protected]>
Codecov Report
@@ Coverage Diff @@
## gz-sim8 #2218 +/- ##
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+ Coverage 65.74% 65.91% +0.16%
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Files 323 323
Lines 30719 30730 +11
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+ Hits 20197 20255 +58
+ Misses 10522 10475 -47
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ahcorde
requested changes
Oct 25, 2023
| @@ -190,6 +189,23 @@ std::optional<math::Pose3d> Link::WorldPose( | |||
| .value_or(sim::worldPose(this->dataPtr->id, _ecm)); | |||
| } | |||
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| ////////////////////////////////////////////////// | |||
| std::optional<math::Inertiald> Link::WorldInertial( | |||
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include <optional> and math::Inertiald
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Those are being included in the link.hh file, should I move them to this file?
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I don't think that's necessary.
python/test/link_TEST.py
Outdated
| @@ -59,6 +59,10 @@ def on_pre_udpate_cb(_info, _ecm): | |||
| # Visuals Test | |||
| self.assertNotEqual(K_NULL_ENTITY, link.visual_by_name(_ecm, 'visual_test')) | |||
| self.assertEqual(1, link.visual_count(_ecm)) | |||
| # World Inertial Test | |||
| self.assertEqual(Pose3d(), link.world_inertial(_ecm).pose()) | |||
| self.assertEqual(Matrix3d(1,0,0,0,1,0,0,0,1), link.world_inertial(_ecm).moi()) | |||
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Suggested change
| self.assertEqual(Matrix3d(1,0,0,0,1,0,0,0,1), link.world_inertial(_ecm).moi()) | |
| self.assertEqual(Matrix3d(1, 0, 0, 0, 1, 0, 0, 0, 1), link.world_inertial(_ecm).moi()) |
Signed-off-by: Voldivh <[email protected]>
azeey
reviewed
Oct 27, 2023
Signed-off-by: Voldivh <[email protected]>
Signed-off-by: Voldivh <[email protected]>
Signed-off-by: Voldivh <[email protected]>
ahcorde
approved these changes
Oct 30, 2023
azeey
approved these changes
Nov 3, 2023
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🎉 New feature
This PR addresses issue #2209
Summary
This PR adds a method to get the Link inertia in relation to the world frame.
Checklist
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