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dartsim: fix handling inertia matrix pose rotation #351

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Aug 1, 2022
Merged

dartsim: fix handling inertia matrix pose rotation #351

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dartsim: fix handling inertia matrix pose rotation
scpeters Jun 5, 2022
d56f652
Removed unused variable and addressed TODO
chapulina Aug 1, 2022
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5 changes: 1 addition & 4 deletions dartsim/src/SDFFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -596,10 +596,7 @@ Identity SDFFeatures::ConstructSdfLink(
const Eigen::Matrix3d R_inertial{
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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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