AvInertia (version 0.0.2)

massprop_head: Head mass properties

Description

Calculate the moment of inertia of a head modeled as a solid cone

Usage

massprop_head(m, r, l, start, end)

Arguments

m

Mass of head (kg)

r

Maximum head radius (m)

l

Maximum head length (m)

start

a 1x3 vector (x,y,z) representing the 3D point where head starts. Frame of reference: VRP | Origin: VRP

end

a 1x3 vector (x,y,z) representing the 3D point where head ends. Frame of reference: VRP | Origin: VRP

Value

This function returns a list that includes:

• Ia 3x3 matrix representing the moment of inertia tensor of a head modeled as a solid cone

• CGa 1x3 vector representing the center of gravity position of a head modeled as a solid cone

• ma double that returns the head mass

Warning

Parallel axis theorem does not apply between two arbitrary points. One point must be the object's center of gravity.