TransRotMassProps:

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   Translate and rotate mass properties to a new coordinate system. 
   Mass properties in "mA" are defined in its local coordinate frame.
   Inertia is defined about principal axes. Rotation from frame mA to mA's
   principal axes is defined by inputs (axisPA,anglePA)
   
   Since version 8.
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   Form:
   [m0,TP0] = TransRotMassProps( mA, rA, T0A )
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   ------
   Inputs
   ------
   mA          (.)    Mass data structure in frame A
                      .mass        (1,1) Mass
                      .cM          (3,1) Center-of-mass
                      .inertiaP    (3,1) Principal moments of inertia
                      .P           (3,3) Rotation matrix for principal axes
                      .inertiaCM   (3,3) Inertia matrix about CM, in frame A
   rA           (3,1)   Position vector of frame A origin in frame 0
   T0A          (3,3)   Rotation matrix from frame 0 to frame A
   
   -------
   Outputs
   -------
   m0          (:)    Mass data structure in frame 0
                      .mass        (1,1) Mass
                      .cM          (3,1) Center-of-mass
                      .inertiaP    (3,1) Inertia matrix about CM, along principal axes
                      .P           (3,3) Rotation matrix for principal axes
                      .inertiaCM   (3,3) Inertia matrix about CM, in frame 0
                      .inertia     (3,3) Inertia matrix about point 0, in frame 0

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Children:

Common: Transform/IConv
Math: Linear/SkewSq