Minor Release v0.5.0
Added a BInertia interface class. Breaks the old interface, but simplifies construction of BBody, BFixedBody, BRBInertia, and BABInertia.
Fixed bug in spatial inertia inverses.
Added a BInertia interface class. Breaks the old interface, but simplifies construction of BBody, BFixedBody, BRBInertia, and BABInertia.
Fixed bug in spatial inertia inverses.