TotalMassProps:

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   Add mass properties. The center of mass and inertia of every part are
   defined with respect to a common coordinate system. By default, the
   output coordinate system is the same as the common coordinate system 
   for each part. If "center" is set to 1, the output coordinate system is
   moved to the system center of mass.

   Type TotalMassProps to return the default data structure.

   Since version 8.
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   Form:
   m = TotalMassProps( mA );
   m = TotalMassProps( mA, center );
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   ------
   Inputs
   ------
   mA          (:)    Mass data structure array
                       .mass    (1,1) Mass
                       .cM      (3,1) Center-of-mass w.r.t. common frame
                       .inertia (3,3) Inertia matrix about common frame

   center      (1)    Optional flag, default 0. Set to 1 to place output
                      coordinate system at system CM.
   
   -------
   Outputs
   -------
   m           (.)    Mass data structure for total mass properties
                      .mass    (1,1) Mass
                      .cM      (3,1) Center-of-mass w.r.t. output frame
                      .inertia (3,3) Inertia matrix about output frame

   mA          (:)    Mass data structure array. CM and inertia will be
                       updated to be defined with respect to system CM if
                       the "center" input is true.

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Children:

Common: MassProperties/TransRotMassProps
Math: Linear/SkewSq