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Proposal for Automatic Calculation of Moments of Inertia for SDFormat Links #92
Proposal for Automatic Calculation of Moments of Inertia for SDFormat Links #92
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A link may contain 0 or multiple collision tags. The proposal should specify how inertial properties are computed in cases when there is not exactly 1 collision. If there are no collisions and the
auto
attribute is set to true, we could return an error. If there are multiple collisions, we could aggregate them using thegz::math::Inertial
class and its+
operator (see examples from its unit test)There was a problem hiding this comment.
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@scpeters Thank you for the feedback. The case to handle multiple collisions is already under development here and would be added in this PR. I'll also update the PR to handle a case of 0 collisions by returning an error and would update the proposal accordingly.
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Updated the section to include more information about different scenarios (multiple or no collisions) in 8b902d8