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Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
open-rmf · Jun 12, 2024 · 0e5e43b · 0e5e43b
1 parent bc50892
commit 0e5e43b
Showing 1 changed file with 10 additions and 10 deletions.
diff --git a/rmf_site_format/src/lift.rs b/rmf_site_format/src/lift.rs
@@ -236,16 +236,16 @@ impl<T: RefTrait> LiftCabin<T> {
 
     pub fn moment_of_inertia(&self, mass: f64) -> sdformat_rs::SdfInertialInertia {
         match self {
-            Self::Rect(params) => {
-                sdformat_rs::SdfInertialInertia {
-                    ixx: mass/12.0 * (params.width.powi(2) + DEFAULT_CABIN_WALL_THICKNESS.powi(2)) as f64,
-                    iyy: mass/12.0 * (params.depth.powi(2) + DEFAULT_CABIN_WALL_THICKNESS.powi(2)) as f64,
-                    izz: mass/12.0 * (params.width.powi(2) + params.depth.powi(2)) as f64,
-                    ixy: 0.0,
-                    ixz: 0.0,
-                    iyz: 0.0,
-                }
-            }
+            Self::Rect(params) => sdformat_rs::SdfInertialInertia {
+                ixx: mass / 12.0
+                    * (params.width.powi(2) + DEFAULT_CABIN_WALL_THICKNESS.powi(2)) as f64,
+                iyy: mass / 12.0
+                    * (params.depth.powi(2) + DEFAULT_CABIN_WALL_THICKNESS.powi(2)) as f64,
+                izz: mass / 12.0 * (params.width.powi(2) + params.depth.powi(2)) as f64,
+                ixy: 0.0,
+                ixz: 0.0,
+                iyz: 0.0,
+            },
         }
     }
 }