Closed RussTedrake closed 3 years ago
@mitiguy I think this one is for you!
Proposed API for this method -- which is based on API for MultibodyPlant::CalcCenterOfMassPositionInWorld().
T CalcTotalMass(const systems::Context<T>& context) const;
T CalcTotalMass(const systems::Context<T>& context, const std::vector<ModelInstanceIndex>& model_instances) const;
PR #14957 addresses this issue #14913.
Resolved by PR #14957 FYI @RussTedrake
I spent a few minutes looking for it... but couldn't find it. The documentation references composite_mass as a concept, but I think it only appears insider the center of mass methods: https://github.com/RobotLocomotion/drake/blob/0ac940e5f37d67a88f5fe19d1fb111f2f92d2197/multibody/tree/multibody_tree.cc#L1305
Of course it's not hard to implement myself... but my goodness this seems like one that we should offer.