Fix method get_center_of_mass_and_inertia_matrix() in DQ_CoppeliaSimInterfaceZMQExperimental class #8
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…inertia_matrix()': Method no longer divides the inertia tensor by the mass.
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Hi @juanjqo,
The method
get_center_of_mass_and_inertia_matrix()in the classDQ_CoppeliaSimInterfaceZMQExperimentalwas dividing the inertia tensor by the body's mass. I'm unsure what motivated this implementation, but I removed this division. Not only this was misleading, as nothing in the documentation or signature of this method, or the higher levelget_inertia_matrix(), indicated this operation would be performed, as it contradicts the implementation of the legacy C++ and MATLAB versions.I believe it's for the best if users perform the division of the inertia tensor by the mass themselves if required for their application.
Kind regards,
Frederico