IntegrateMassProps:

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   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
   -------
   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.

   -------
   Outputs
   -------
   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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Children:

Math: Linear/SkewSq