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feat: compute total mass in constructor #73

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merged 1 commit into from
Jun 15, 2024
Merged

feat: compute total mass in constructor #73

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1 change: 1 addition & 0 deletions include/tinyfk.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,7 @@ class KinematicModel {

RelevancePredicateTable rptable_;
int num_dof_;
double total_mass_;

mutable SizedStack<LinkIdAndTransform> transform_stack_;
mutable SizedCache<Transform> transform_cache_;
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9 changes: 9 additions & 0 deletions src/tinyfk.cpp
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Expand Up @@ -34,6 +34,14 @@ KinematicModel::KinematicModel(const std::string &xml_string) {
}
size_t N_link = lid; // starting from 0 and finally ++ increment, so it'S ok

// compute total mass
double total_mass = 0.0;
for (const auto &link : links) {
if (link->inertial != nullptr) {
total_mass += link->inertial->mass;
}
}

// construct joints and joint_ids, and numbering joint id
std::vector<urdf::JointSharedPtr> joints;
std::unordered_map<std::string, int> joint_ids;
Expand Down Expand Up @@ -74,6 +82,7 @@ KinematicModel::KinematicModel(const std::string &xml_string) {
joints_ = joints;
joint_ids_ = joint_ids;
num_dof_ = num_dof;
total_mass_ = total_mass;
joint_angles_ = joint_angles;

// add COM of each link as new link
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