Merge ign-physics5 ➡️ main (#398)

Signed-off-by: Louise Poubel <louise@openrobotics.org>
gazebosim · Aug 1, 2022 · 58b3df4 · 58b3df4
2 parents 791296b + 030012e
commit 58b3df4
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Showing 2 changed files with 2 additions and 9 deletions.
diff --git a/coverage.ignore.in b/coverage.ignore.in
@@ -0,0 +1 @@
+tpe/lib/src/aabb_tree/*
diff --git a/dartsim/src/SDFFeatures.cc b/dartsim/src/SDFFeatures.cc
@@ -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);