/// \brief Computes the center of mass position of a given model according to a particular joint configuration.
/// The result is accessible through data.com[0] for the full body com and data.com[i] for the subtree supported by joint i (expressed in the joint i frame).
/// \brief Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint \f$ j \f$ and expressed in the joint frame \f$ j \f$. The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame.
container::aligned_vector<Vector3>acom;
/// \brief Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint \f$ j \f$. The element mass[0] corrresponds to the total mass of the model.
/// \brief Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint \f$ j \f$. The element mass[0] corresponds to the total mass of the model.