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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

Hi,

I was looking at the State class, and it seems to me some attributes (below) are not needed.
Any reason to not get rid of them?

Bruno

((Vector3r,accel,Vector3r::Zero(),,"Current acceleration."))
((Vector3r,angAccel,Vector3r::Zero(),,"Current angular acceleration"))
((Vector3r,refPos,Vector3r::Zero(),,"Reference position"))
((Quaternionr,refOri,Quaternionr::Identity(),,"Reference orientation"))