View source: R/mathematicalfunctions.R
parallelaxis | R Documentation |
Reads in an initial tensor and an offset to compute the transformed tensor. Will be in the same frame of reference as the input tensor.
parallelaxis(I, offset_vec, m, cg_a)
I |
a 3x3 matrix representing the moment of inertia tensor about the center of gravity of the object (kg-m^2). |
offset_vec |
a 1x3 vector representing the distance (x,y,z) between the objects CG and the arbitrary pt A (m). Vector should always point from the CG to the arbitrary point A. |
m |
Mass of the object (kg). |
cg_a |
If input I is about the CG enter "CG" or if I is about an arbitrary axis enter "A". |
a 3x3 matrix representing the transformed moment of inertia tensor after a solid body translation defined by the offset vector.
Christina Harvey
# refer to the vignette library(AvInertia) # load data data(dat_id_curr, package = "AvInertia") data(dat_bird_curr, package = "AvInertia") data(dat_feat_curr, package = "AvInertia") data(dat_bone_curr, package = "AvInertia") data(dat_mat, package = "AvInertia") data(clean_pts, package = "AvInertia") # 1. Determine the center of gravity of the bird's torso (including the legs) dat_torsotail_out = massprop_restbody(dat_id_curr, dat_bird_curr) # 2. Calculate the inertia of the flight feathers about the tip of the calamus feather_inertia <- compute_feat_inertia(dat_mat, dat_feat_curr, dat_bird_curr) # 3. Determine the center of gravity of one of the bird's wings dat_wing_out = massprop_birdwing(dat_id_curr, dat_bird_curr, dat_bone_curr, dat_feat_curr, dat_mat, clean_pts, feather_inertia, plot_var = 0) # Visualize the center of gravity of each wing component in the x and y axis dat_wing_out = massprop_birdwing(dat_id_curr, dat_bird_curr, dat_bone_curr, dat_feat_curr, dat_mat, clean_pts, feather_inertia, plot_var = "yx") # or the y and z axis dat_wing_out = massprop_birdwing(dat_id_curr, dat_bird_curr, dat_bone_curr, dat_feat_curr, dat_mat, clean_pts, feather_inertia, plot_var = "yz") # 4. Combine all data and obtain the center of gravity, moment of inertia # and principal axes of the bird curr_full_bird = combine_inertialprop(dat_torsotail_out,dat_wing_out, dat_wing_out, dat_id_curr, dat_bird_curr, symmetric=TRUE)
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