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Make inertial warnings optional when setting tensor #1672

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Jul 28, 2022
Merged

Make inertial warnings optional when setting tensor #1672

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9 changes: 8 additions & 1 deletion dart/dynamics/Inertia.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -196,7 +196,14 @@ Eigen::Matrix3d Inertia::getMoment() const
//==============================================================================
void Inertia::setSpatialTensor(const Eigen::Matrix6d& _spatial)
{
if (!verifySpatialTensor(_spatial, true))
setSpatialTensor(_spatial, true);
}

//==============================================================================
void Inertia::setSpatialTensor(const Eigen::Matrix6d& _spatial,
bool _printWarnings)
{
if (!verifySpatialTensor(_spatial, _printWarnings))
dtwarn << "[Inertia::setSpatialTensor] Passing in an invalid spatial "
<< "inertia tensor. Results might not be physically accurate or "
<< "meaningful.\n";
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3 changes: 3 additions & 0 deletions dart/dynamics/Inertia.hpp
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Expand Up @@ -122,6 +122,9 @@ class Inertia
/// Set the spatial tensor
void setSpatialTensor(const Eigen::Matrix6d& _spatial);

/// Set the spatial tensor, with option to silence warnings.
void setSpatialTensor(const Eigen::Matrix6d& _spatial, bool _printWarnings);

/// Get the spatial inertia tensor
const Eigen::Matrix6d& getSpatialTensor() const;

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