Attempt to correct mass matrix in mesh inertia calculator #2775
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Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
scpeters
reviewed
Feb 14, 2025
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
This was referenced Feb 14, 2025
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
scpeters
reviewed
Feb 26, 2025
scpeters
reviewed
Feb 26, 2025
Signed-off-by: Ian Chen <ichen@openrobotics.org>
scpeters
approved these changes
Feb 26, 2025
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Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 1509b0f)
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…2775) (#2799) * Attempt to correct mass matrix in mesh inertia calculator (#2775) Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 1509b0f) * split test Signed-off-by: Ian Chen <ichen@openrobotics.org> --------- Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
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🦟 Bug fix
Depends on #2770
Summary
The mesh inertia calculator can potentially generate invalid inertial values for complex / non-water tight meshes. This PR adds a function that attempts to correct the auto-calculated mass matrix if it is strictly positive and within the specified tolerance of satisfying the triangle inequality.
Credits go to @shameekganguly and @scpeters for the mass matrix correction algorithm
Checklist
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