Path: Common/MassProperties
% Computes the principal axes for an inertia matrix. Input u is a set of vectors for which the routine computes angles between the axes in the base and axes in the principal frame. The inertia matrix in principal axes is m'*inertia*m -------------------------------------------------------------------------- Form: [inertiaP, angle, error, m] = PrincipalAxes( inertia, u ) -------------------------------------------------------------------------- ------ Inputs ------ inertia (3,3) The inertia matrix u (3,n) Vectors in the base frame ------- Outputs ------- inertiaP (3,3) The inertia matrix angle (1,n) Angle between u in base and u in principal axes (deg) error (3,3) Error m (3,3) Transformation matrix --------------------------------------------------------------------------
Common: MassProperties/IC623X3 Math: Linear/Dot Math: Linear/Mag
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