Path: Airships/Mass
% Integrate the mass properties of multiple components into a single body
The moment of inertia for each component is defined with respect to a
local coordinate frame. The position of each local coordinate frame is
defined with respect to the body frame origin. The local coordinate
frames of the components may only be translated, not rotated, from the
body frame.
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Inputs
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comp (:) Array of component data structures, with fields:
.mass Mass of component
.inertia Inertia of component about origin of local frame
.cM Position of component CM wrt local frame origin
.r0 Position of each local frame wrt body frame orig
NOTE: If r0 not given, all local frames are assumed
to coincide with the body frame.
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Outputs
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body (.) Body data structure, with fields:
.mass Mass of body
.inertia Inertia of body about origin of body frame
.cM Position of body CM wrt body frame origin
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Math: Linear/SkewSq
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