compute_position_com_in_world()

Eigen::Vector3d compute_position_com_in_world ( b3RobotSimulatorClientAPI &  bullet, int  robot  )

inline

Get the position of the center of mass of a robot in the world frame.

Parameters

[in]	bullet	Bullet client.
[in]	robot	Index of the robot.

Returns

Position of the center of mass in the world frame.

Note

This function will recompute forward kinematics.