From d529d120f30513b84972550f52eb2a074d3f757d Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 10 Dec 2024 06:36:00 +0800 Subject: [PATCH] udate api doc for resolving auto inertia Signed-off-by: Ian Chen --- include/sdf/Link.hh | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/include/sdf/Link.hh b/include/sdf/Link.hh index d692476fb..8e2663be1 100644 --- a/include/sdf/Link.hh +++ b/include/sdf/Link.hh @@ -351,9 +351,12 @@ namespace sdf const std::string &_resolveTo = "") const; /// \brief Calculate & set inertial values(mass, mass matrix - /// & inertial pose) for the link. Inertial values can be provided - /// by the user through the SDF or can be calculated automatically - /// by setting the auto attribute to true. + /// & inertial pose) for the link. This function will calculate + /// the inertial values if the auto attribute is set to true. + /// If mass is not provided by the user, the inertial values will be + /// determined based on either link density or collision density if + /// explicitly set. Otherwise, if mass is specified, the inertia matrix + /// will be scaled to match the desired mass. /// \param[out] _errors A vector of Errors object. Each object /// would contain an error code and an error message. /// \param[in] _config Custom parser configuration