mass and gravity are public const

include/centroidal-dynamics-lib/centroidal_dynamics.hh

@@ -26,6 +26,10 @@ enum CENTROIDAL_DYNAMICS_DLLAPI EquilibriumAlgorithm
 
 class CENTROIDAL_DYNAMICS_DLLAPI Equilibrium
 {
+public:
+  const double m_mass; /// mass of the system
+  const Vector3 m_gravity; ///  gravity vector
+
 private:
   static bool m_is_cdd_initialized;   /// true if cdd lib has been initialized, false otherwise
 
@@ -35,8 +39,6 @@ private:
   SolverLP                    m_solver_type;  /// type of LP solver
 
   unsigned int  m_generatorsPerContact; /// number of generators to approximate the friction cone per contact point
-  double        m_mass;                 /// mass of the system
-  Vector3       m_gravity;              /// gravity vector
 
   /** Gravito-inertial wrench generators (6 X numberOfContacts*generatorsPerContact) */
   Matrix6X m_G_centr;

src/centroidal_dynamics.cpp

@@ -20,7 +20,9 @@ bool Equilibrium::m_is_cdd_initialized = false;
 Equilibrium::Equilibrium(const string& name, const double mass, const unsigned int generatorsPerContact,
                                      const SolverLP solver_type, const bool useWarmStart,
                                      const unsigned int max_num_cdd_trials, const bool canonicalize_cdd_matrix)
-    : m_is_cdd_stable(true)
+    : m_mass(mass)
+    , m_gravity(0.,0.,-9.81)
+    , m_is_cdd_stable(true)
     , max_num_cdd_trials(max_num_cdd_trials)
     , canonicalize_cdd_matrix(canonicalize_cdd_matrix)
 {
@@ -43,9 +45,8 @@ Equilibrium::Equilibrium(const string& name, const double mass, const unsigned i
     m_generatorsPerContact = 3;
   }
 
-  m_mass = mass;
-  m_gravity.setZero();
-  m_gravity(2) = -9.81;
+  /*m_gravity.setZero();
+  m_gravity(2) = -9.81;*/
 
   m_d.setZero();
   m_d.head<3>() = m_mass*m_gravity;