[aerial_robot_model] add new API to get and set extra module map (#661)

* [aerial_robot_model] add new API to get and set extra module map * [aerial_robot_model] use reference to get extra module map
jsk-ros-pkg · Jan 17, 2025 · 61c38f2 · 61c38f2
1 parent 5a1c14e
commit 61c38f2
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/aerial_robot_model/include/aerial_robot_model/model/aerial_robot_model.h b/aerial_robot_model/include/aerial_robot_model/model/aerial_robot_model.h
@@ -129,6 +129,8 @@ namespace aerial_robot_model {
 
     bool addExtraModule(std::string module_name, std::string parent_link_name, KDL::Frame transform, KDL::RigidBodyInertia inertia);
     bool removeExtraModule(std::string module_name);
+    const std::map<std::string, KDL::Segment>& getExtraModuleMap() const {return extra_module_map_;}
+    void setExtraModuleMap(const std::map<std::string, KDL::Segment>& map) {extra_module_map_ = map;}
 
     // statics (static thrust, joint torque)
     Eigen::VectorXd calcGravityWrenchOnRoot();