def __init__(self, robot, combined='b-', color=None, linewidth=3,
linestyle=None, buffer_size=1000):
body = PointMass(
robot.com, robot.mass, name='RobotCOMState', visible=False)
super(COMTrajectoryDrawer, self).__init__(
body, combined, color, linewidth, linestyle)
self.robot = robot
def get_com_point_mass(self):
"""
Get the center of mass as a PointMass instance.
Returns
-------
com : PointMass
Center of mass of the robot.
"""
return PointMass(pos=self.com, mass=self.mass)
