Introduced inertia/symmetric3 minus operators#2204

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cmastalli wants to merge 6 commits intostack-of-tasks:develfrom cmastalli:topic/inertia-minus-operators

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Commits on Apr 5, 2024

[spatial] Added minus operator in symmetric3

cmastalli
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jcarpent
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[spatial] Added inertia minus operators

cmastalli
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jcarpent
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[changelog] Updated changelog

cmastalli
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jcarpent
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[spatial] Reused mab and removed eval in minus operators (inertia)

cmastalli
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jcarpent
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[spatial] Used eps to compute lever in FromDynamicParameters

cmastalli
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jcarpent
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[spatial] Assert mass is positive

cmastalli
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jcarpent
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