python binding - extractKinetics

[aaa34169]

No warnings come up if extract_kinetics run without gravity vectors and mass within subject properties

[Alzathar]

The function ma::body::extract_joint_kinetics only looks for segment poses and joint forces and moments for each ma::body::DynamicsDescriptor found. The computation of segments and joint forces and moments are done within the function ma::body::reconstruct. Thus, no warning are displayed because no information was found.

The problem might be deeper than the display of a warning. The way to activate the inverse dynamics is not simple (set the gravity vector). The code might be refactored. For example, a new class ma::LaboratorySettings is in development to set the gravity direction and magnitude. This class might manage the need or not to compute the inverse dynamics. A specific option in this class might trigger the computation of the inverse dynamics. Thus, when the function ma::body::extract_joint_kinetics is used, the inverse dynamics computation set to truebut no information was found, a warning could be displayed.

Would it be a better way?

[aaa34169]

I like the class ma::LaboratorySettings and the proposed process
I thin ma::LaboratorySettings s the best place for stating the gravity vector.