[wrapper.cpp] feat: export total_mass

HiroIshida · Jul 11, 2024 · 2f1fe1f · 2f1fe1f
1 parent 158c9f6
commit 2f1fe1f
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diff --git a/python/tinyfk/__init__.py b/python/tinyfk/__init__.py
@@ -261,6 +261,10 @@ def compute_inter_link_sqdists(
     def clear_cache(self) -> None:
         self._robot.clear_cache()
 
+    @property
+    def total_mass(self) -> float:
+        return self._robot.total_mass_
+
     def __getstate__(self):  # pickling
         state = self.__dict__.copy()
         state["_robot"] = None

diff --git a/src/wrapper.cpp b/src/wrapper.cpp
@@ -227,6 +227,7 @@ PYBIND11_MODULE(_tinyfk, m) {
 
   py::class_<KinematicsModelPyWrapper>(m, "RobotModel")
       .def(py::init<std::string &>())
+      .def_readonly("total_mass_", &KinematicsModelPyWrapper::total_mass_)
       .def("get_root_link_name", &KinematicsModelPyWrapper::get_root_link_name)
       .def("solve_forward_kinematics",
            &KinematicsModelPyWrapper::solve_forward_kinematics)