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Added `std::optional MassMatrix()` functions for Box, Cylinder & Sphere #538

Merged

quarkytale merged 6 commits into gazebosim:gz-math7 from jasmeet0915:jasmeet/mass_matrix_functions

Jun 30, 2023

Merged

Added `std::optional MassMatrix()` functions for Box, Cylinder & Sphere #538

Included <optional> in detail Cylinder, Sphere & Box headers

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