Fix method get_center_of_mass_and_inertia_matrix() in DQ_CoppeliaSimInterfaceZMQExperimental class

[ffasilva]

Hi @juanjqo,

The method get_center_of_mass_and_inertia_matrix() in the class DQ_CoppeliaSimInterfaceZMQExperimental was dividing the inertia tensor by the body's mass. I'm unsure what motivated this implementation, but I removed this division. Not only this was misleading, as nothing in the documentation or signature of this method, or the higher level get_inertia_matrix(), indicated this operation would be performed, as it contradicts the implementation of the legacy C++ and MATLAB versions.

I believe it's for the best if users perform the division of the inertia tensor by the mass themselves if required for their application.

Kind regards,
Frederico

[juanjqo]

Hi @ffasilva

Thanks for your report. All methods of the DQ_CoppeliaSimInterfaceZMQExperimental class are experimental, unstable, unsupported, and not well documented. Some of the methods only work with a specific version of CoppeliaSim, and are implemented to test new functionalities that could be (or not) added later in the DQ_CoppeliaSimInterfaceZMQ, the stable and officially supported interface.

According to the DQ Robotics policies, each PR requires a minimal example and unit tests. However, since this method is a strong candidate to be added to the stable class, we need to propose it in the Matlab version first. Could you please open an issue instead to report the bug you spotted?

Kind regards,

Juancho