TransRotInertia:

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  Translate and/or rotate the moment of inertia.

   IP:  principal moments of inertia
   ICM: inertia matrix defined about arbitrary axes, at the CM
   I0:  inertia matrix defined about arbitrary axes, at an arbitrary point

  Options: 
   * Compute IP from ICM
   * Compute IP from I0
   * Compute ICM from IP
   * Compute ICM from I0
   * Compute I0 from IP
   * Compute I0 from ICM

  Depending on which computation is performed, certain additional
  information may be required:
   * m     (1,1)    Mass
   * rCM   (3,1)    Position of CM defined with respect to point 0
   * T     (3,3)    Rotation matrix from "from" frame to "to" frame

   Since version 8.
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   Form:
   [I2,T] = TransRotInertia( I1, from, to, varargin )

   Examples:
   [IP,T] = TransRotInertia( ICM, 'CM', 'P' )
   [IP,T] = TransRotInertia( I0,  '0',  'P', m, rCM )
   [I2,T] = TransRotInertia( I1, from, to, varargin )
   [I2,T] = TransRotInertia( I1, from, to, varargin )
   [I2,T] = TransRotInertia( I1, from, to, varargin )

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   ------
   Inputs
   ------
   I1         (3,3)   Input Inertia
   from        (:)    Name of original frame. "P", "CM", or "0"
   to          (:)    Name of original frame. "P", "CM", or "0"
   
     -- required remaining inputs depend on from/to combination

   m          (1,1)   Mass
   rCM        (3,1)   Position of CM defined with respect to point 0
   T          (3,3)   Rotation matrix from "from" frame to "to" frame

   
   -------
   Outputs
   -------
   I2         (3,3)   Output Inertia
   T          (3,3)   Rotation matrix from "from" frame to "to" frame

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Children:

Math: Linear/SkewSq