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Merge ign-physics5 ➡️ main #398

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merged 8 commits into from
Aug 1, 2022
Merged

Merge ign-physics5 ➡️ main #398

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dab9517
Change IGN_DESIGNATION to GZ_DESIGNATION (#390)
nkoenig Jul 25, 2022
e0012cf
Add code coverage ignore file (#388)
AzulRadio Jul 27, 2022
0ac0be1
1 ➡️ 2
chapulina Jul 28, 2022
635f18a
Merge pull request #396 from gazebosim/chapulina/1_to_2
nkoenig Jul 28, 2022
78990fe
2 ➡️ 5
chapulina Jul 28, 2022
db57199
Merge ign-physics2 ➡️ ign-physics5 (#397)
chapulina Jul 29, 2022
4ef1d65
dartsim: fix handling inertia matrix pose rotation (#351)
scpeters Aug 1, 2022
030012e
5 ➡️ 6 (main)
chapulina Aug 1, 2022
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1 change: 1 addition & 0 deletions coverage.ignore.in
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
tpe/lib/src/aabb_tree/*
10 changes: 1 addition & 9 deletions dartsim/src/SDFFeatures.cc
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Expand Up @@ -591,15 +591,7 @@ Identity SDFFeatures::ConstructSdfLink(
const gz::math::Inertiald &sdfInertia = _sdfLink.Inertial();
bodyProperties.mInertia.setMass(sdfInertia.MassMatrix().Mass());

// TODO(addisu) Resolve the pose of inertials when frame information is
// availabile for gz::math::Inertial
const Eigen::Matrix3d R_inertial{
math::eigen3::convert(sdfInertia.Pose().Rot())};

const Eigen::Matrix3d I_link =
R_inertial
* math::eigen3::convert(sdfInertia.Moi())
* R_inertial.inverse();
const Eigen::Matrix3d I_link = math::eigen3::convert(sdfInertia.Moi());

bodyProperties.mInertia.setMoment(I_link);

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