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Add debug msg to log auto computed inertial values #2749

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Add debug msg to log auto computed inertial values #2749

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2af3733
Add debug msg to log auto computed inertial values
iche033 Jan 30, 2025
06b62b5
Merge branch 'gz-sim9' into log_auto_inertial
iche033 Jan 30, 2025
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13 changes: 13 additions & 0 deletions src/SdfEntityCreator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -539,6 +539,19 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Model *_model,

this->SetParent(linkEntity, modelEntity);

if (link->AutoInertia())
{
gzdbg << "Link has auto-inertial enabled: "
<< scopedName(linkEntity, *this->dataPtr->ecm, "::", false) << "\n";
gzdbg << " pose: " << link->Inertial().Pose() << "\n";
gzdbg << " mass: " << link->Inertial().MassMatrix().Mass() << "\n";
gzdbg << " ixx iyy izz: "
<< link->Inertial().MassMatrix().DiagonalMoments() << "\n";
gzdbg << " ixy ixz iyz: "
<< link->Inertial().MassMatrix().OffDiagonalMoments()
<< std::endl;
}

if (canonicalLink == link)
{
this->dataPtr->ecm->CreateComponent(linkEntity,
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