KDL::JntSpaceInertiaMatrix& KukaKDL::getInertiaMatrix(){ if(inertiaMatrixOutdated_ == true){ computeMassMatrix(); inertiaMatrixOutdated_ = false; } return massMatrix; }
void GenerateMassMatrix::computeVertexMasses(VolumetricMesh * volumetricMesh, double * masses) { SparseMatrix * massMatrix; bool inflate3Dim = false; computeMassMatrix(volumetricMesh, &massMatrix, inflate3Dim); massMatrix->SumRowEntries(masses); delete(massMatrix); }