MassProp:

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.

   Since version 1.
--------------------------------------------------------------------------
   Form:
   [inrT, mT, cMT, inrP, cP] = MassProp( inr, m, cM, u, cName, c )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   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

   -------
   Outputs
   -------
   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

--------------------------------------------------------------------------

Children:

Common: MassProperties/PrincipalAxes

Back to the Common Module page