Different inertia parametrizations and Physical consistency#2296

Merged

jorisv merged 36 commits intostack-of-tasks:develfrom simeon-ned:devel

Oct 3, 2024

+929-11

Commits on Oct 3, 2024

added conversion from logcholesky to inertia

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added pseudo inertia conversion

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fixed typo in logcholesky

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added logcholesky jacobian, fixed pybinds

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removed unnecesary comments

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added unit tests for logcholesky and pseudo in py

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test: conversions tests

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style: apply pre-commit

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Feature/modified inertia (#2 )

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removed outdated python tests

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minor reordering in tests

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removed outdated cpp tests

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renaming, minor refactoring

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code formatting, minor style fixes

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removed unnecessary constructors, minor fixes

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Update include/pinocchio/spatial/inertia.hpp

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exposed inertia transforms

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exposed pseudo inertia

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exposed log cholesky

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removed unecesarry comments

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fix: update bindings

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fix: formatting issues

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feat: expose pseudo inertia and logcholesky

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fix: update codacy

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fix: update changelog

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fix: update python bindings for pseudo inertia and logcholesky

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fix: add proxy toDynamicParameters

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fix: update spatial to work well with bindings

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test: inertia parametrization

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python: Remove compiler diagnostic pragma
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python add PseudoInertia::toInertia binding
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python: Add cast method to PseudoInertia and LogCholeskyParameters
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python: Use last __array__ API
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python: Add some guards when providing vector of size (10, 1)
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changelog: Add entry
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unittest: Rewrote some code to please codacy
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