core: add oinertias to Data

src/multibody/data.hpp

@@ -183,10 +183,13 @@ namespace pinocchio
     /// \brief Left variation of the inertia matrix
     PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) Ivx;
     
-    /// \brief Inertia quantities expressed in the world frame
+    /// \brief Rigid Body Inertia supported by the joint expressed in the world frame
+    PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) oinertias;
+    
+    /// \brief Composite Rigid Body Inertia expressed in the world frame
     PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) oYcrb;
     
-    /// \brief Time variation of the inertia quantities expressed in the world frame
+    /// \brief Time variation of Composite Rigid Body Inertia expressed in the world frame
     PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) doYcrb;
     
     /// \brief Temporary for derivative algorithms

src/multibody/data.hxx

@@ -53,6 +53,7 @@ namespace pinocchio
   , IS(MatrixXs::Zero(6,model.nv))
   , vxI((std::size_t)model.njoints,Inertia::Matrix6::Zero())
   , Ivx((std::size_t)model.njoints,Inertia::Matrix6::Zero())
+  , oinertias((std::size_t)model.njoints,Inertia::Zero())
   , oYcrb((std::size_t)model.njoints,Inertia::Zero())
   , doYcrb((std::size_t)model.njoints,Inertia::Matrix6::Zero())
   , ddq(VectorXs::Zero(model.nv))
@@ -248,6 +249,7 @@ namespace pinocchio
     && data1.IS == data2.IS
     && data1.vxI == data2.vxI
     && data1.Ivx == data2.Ivx
+    && data1.oinertias == data2.oinertias
     && data1.oYcrb == data2.oYcrb
     && data1.doYcrb == data2.doYcrb
     && data1.ddq == data2.ddq

src/serialization/data.hpp

@@ -57,6 +57,7 @@ namespace boost
       PINOCCHIO_MAKE_DATA_NVP(ar,data,IS);
       PINOCCHIO_MAKE_DATA_NVP(ar,data,vxI);
       PINOCCHIO_MAKE_DATA_NVP(ar,data,Ivx);
+      PINOCCHIO_MAKE_DATA_NVP(ar,data,oinertias);
       PINOCCHIO_MAKE_DATA_NVP(ar,data,oYcrb);
       PINOCCHIO_MAKE_DATA_NVP(ar,data,doYcrb);
       PINOCCHIO_MAKE_DATA_NVP(ar,data,ddq);