template<class T> inline SymmetricMatrix<T,3> inertia_tensor_from_covariance(const SymmetricMatrix<T,3>& covariance)
{
return covariance.trace()-covariance;
}}
template<class T> inline SymmetricMatrix<T,3> inertia_tensor_from_covariance(const SymmetricMatrix<T,3>& covariance)
{
return covariance.trace()-covariance;
}}
