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HebiRobotics / hebi-matlab-api

Public download and issue tracker of the latest HEBI API for MATLAB
http://docs.hebi.us/tools.html#matlab-api
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Add getPayload() #6

Closed daverolli closed 5 years ago

daverolli commented 6 years ago

Not sure how this is handled currently, does any of the mass info for an added payload show up in getBodyMasses? Or does it just show up in getGravCompEfforts and getDynamicCompEfforts?

ennerf commented 6 years ago

setPayload supports 'mass', 'com', and at some point 'inertia'. Is it enough if getPayload returns the mass in [kg]?

ennerf commented 5 years ago

It just shows up in getGravCompEfforts. What should the getPayload() method return? Is it ok if it's just the payload in [kg] or should it be a struct that includes all the meta data?

ennerf commented 5 years ago

set it to return only mass for now. We can change the method to return additional arguments later and/or switch to a struct in 2.0