From 106ec2bbc1e51c86615749240e5bd0caee21dae1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bartek=20=C5=81ukawski?= <bwmn.peter@gmail.com>
Date: Mon, 14 Jul 2025 16:00:05 +0200
Subject: [PATCH 1/2] Add .gitignore

---
 .gitignore | 3 +++
 1 file changed, 3 insertions(+)
 create mode 100644 .gitignore

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 00000000..011581b1
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+**/build*/
+/.vs/
+/.vscode/

From c971ec6efa4dbaad7599e66fe204c25016e9b9b1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bartek=20=C5=81ukawski?= <bwmn.peter@gmail.com>
Date: Mon, 14 Jul 2025 16:00:16 +0200
Subject: [PATCH 2/2] (PyKDL) expose ChainExternalWrenchEstimator

---
 python_orocos_kdl/PyKDL/dynamics.cpp | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/python_orocos_kdl/PyKDL/dynamics.cpp b/python_orocos_kdl/PyKDL/dynamics.cpp
index 46d0f503..3fff5090 100644
--- a/python_orocos_kdl/PyKDL/dynamics.cpp
+++ b/python_orocos_kdl/PyKDL/dynamics.cpp
@@ -26,6 +26,7 @@
 #include <iostream>
 #include <iomanip>
 #include <kdl/chaindynparam.hpp>
+#include <kdl/chainexternalwrenchestimator.hpp>
 #include <kdl/jntspaceinertiamatrix.hpp>
 #include <kdl/kinfam_io.hpp>
 #include "PyKDL.h"
@@ -90,4 +91,25 @@ void init_dynamics(pybind11::module &m)
     chain_dyn_param.def("JntToCoriolis", &ChainDynParam::JntToCoriolis, py::arg("q"), py::arg("q_dot"), py::arg("coriolis"));
     chain_dyn_param.def("JntToMass", &ChainDynParam::JntToMass, py::arg("q"), py::arg("H"));
     chain_dyn_param.def("JntToGravity", &ChainDynParam::JntToGravity, py::arg("q"), py::arg("gravity"));
+
+    // --------------------
+    // ChainExternalWrenchEstimator
+    // --------------------
+    py::class_<ChainExternalWrenchEstimator> chain_ext_wrench_estimator(m, "ChainExternalWrenchEstimator");
+    chain_ext_wrench_estimator.def(py::init<const Chain&, const Vector&, const double, const double, const double, const double, const int>(),
+                                   py::arg("chain"), py::arg("gravity"), py::arg("sample_frequency"),
+                                   py::arg("estimation_gain"), py::arg("filter_constant"),
+                                   py::arg("eps")=0.00001, py::arg("maxiter")=150);
+    chain_ext_wrench_estimator.def("setInitialMomentum", &ChainExternalWrenchEstimator::setInitialMomentum,
+                                   py::arg("joint_position"), py::arg("joint_velocity"));
+    chain_ext_wrench_estimator.def("setSVDEps", &ChainExternalWrenchEstimator::setSVDEps, py::arg("eps_in"));
+    chain_ext_wrench_estimator.def("setSVDMaxIter", &ChainExternalWrenchEstimator::setSVDMaxIter, py::arg("maxiter_in"));
+    chain_ext_wrench_estimator.def("JntToExtWrench", &ChainExternalWrenchEstimator::JntToExtWrench,
+                                   py::arg("joint_position"), py::arg("joint_velocity"),
+                                   py::arg("joint_torque"), py::arg("external_wrench"));
+    chain_ext_wrench_estimator.def("getEstimatedJntTorque", &ChainExternalWrenchEstimator::getEstimatedJntTorque,
+                                   py::arg("external_joint_torque"));
+    chain_ext_wrench_estimator.def("updateInternalDataStructures", &ChainExternalWrenchEstimator::updateInternalDataStructures);
+    chain_ext_wrench_estimator.def("strError", &ChainExternalWrenchEstimator::strError,
+                                   py::arg("error"));
 }