csu-hmc/Gait-Analysis-Toolkit — pull request #70 by moorepants (2014-04-02 22:47:03+00:00)
Title: Mass and inertia are now correctly computed for each segment.

The mass and inertia selection/computations were done in the wrong loop, so
the same inertial properties were used for each segment. This rememdies that by
moving the computations into the force/moment loop.