Add real-time type: RigidObject

[ndehio]

A type for describing object properties would be beneficial. From my point of view it should contain:
float total_mass;
Eigen::Vector3f centerOfMass; //(3x1 vector)
Eigen::Matrix3f inertia; // (3x3 matrix)

A robot link can be seen in a more abstract way as a rigid object.

[ndehio]

Eventually we should also add information describing the object shape which is important to model contacts

[xwavex]

please refer to the rst-rt repository. here it might be overlooked. ndehio <[email protected]> schrieb am Do., 1. Dez. 2016, 15:46:

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