Use bodiesWeight_ in CentroidalMomentumMatrix::computeMatrix*.
Use bodiesWeight_ in CentroidalMomentumMatrix::computeMatrix*.

jrl-umi3218/RBDyn,jrl-umi3218/RBDyn,jrl-umi3218/RBDyn,gergondet/RBDyn,gergondet/RBDyn,jrl-umi3218/RBDyn,gergondet/RBDyn,gergondet/RBDyn,gergondet/RBDyn