Path: Common/MassProperties
% Compute inertia, mass and center of mass for a collection of rigid bodies.
If no output is specified it will print the results.
The cm's must be given in the core frame but the inertias
may be given in their own frame and the transformation from the
component frame to the core frame given in c.
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Form:
[inrT, mT, cMT, inrP, cP] = MassProp( inr, m, cM, u, cName, c )
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Inputs
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inr (6,:) Inertia matrices. Each column is [Ixx;Iyy;Izz;Ixy;Ixz;Iyz]
Ixy,Ixz and Iyz may be omitted for all bodies.
m (1,:) Masses
cM (3,:) Center of masses. Each column is [x;y;z]
u (3,1) Units 'sgF' = slug-ft^2, 'sgI' = slug-in^2, 'mks' = metric
'inL' = in-lbf-sec^2;
cName (:,:) Component name
c (9,:) Transformation matrices. Each column is [c(:,1);c(:,2);c(:,3)];
Transforms from the core frame to the element frame
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Outputs
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inrT (3,3) Inertia matrix
mT (1,1) Mass
cMT (3,1) Center of mass
inrP (3,3) Inertia matrix in principal axes
cP (3,3) Transformation matrix from core to principal axis
such that inrP = cP'*inrT*cP
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Common: MassProperties/PrincipalAxes
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