// Returns the instantaneous rate of change of the angular
// velocity, as a vector in local coordinates.
void getAngularAccel(float* accelOut);
+
+ // Returns the intertia tensor in a float[9] allocated by caller.
+ void getInertiaMatrix(float* inertiaOut);
private:
struct Mass { float m; float p[3]; };
float _gyro[3];
// Inertia tensor, and its inverse. Computed from the above.
- float _I[9];
+ float _tI[9];
float _invI[9];
// Externally determined quantities