Path: SC/Dynamics
% Add a body to the tree data structure.
Since version 2.
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Form:
x = TreeAdd( inertia, r, lambda, mass, kPrev, dOF, w, q, b, kSpring, cSpring, name )
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Input
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inertia (3,3) Inertia with respect to the body c.m.
r (3,1) Vector from the reference for the body to the c.m.
lambda (3,1) Vector from the reference for the previous
body in the chain to the hinge point for the body
mass (1,1) Body mass
kPrev (1,1) ID for the previous body in the chain
dOF (1,1) Active degree of freedom. If 0 all DOF are
active. Otherwise only dOF is active
w (:,1) Initial rate
q (:,1) Initial attitude
b (3,3) Transformation matrix from the previous body
frame to the hinge between the bodies.
kSpring (3,3) General stiffness matrix
cSpring (3,3) General damping matrix
name (1,:) Name of the component
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Output
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x (:,:) Data structure
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Common: Quaternion/QUnit Math: Linear/DupVect Math: Linear/Mag
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