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initializeInertiaProperties.m
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initializeInertiaProperties.m
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% c.o.m. positions
inertiaProp.P32_r_P32C = [0.25466704; -0.13034397; -0.01302248];
inertiaProp.B52_r_B52C = [0 0 0.56802906];
inertiaProp.P22_r_P22C = [0.62192523 0 0];
inertiaProp.B12_r_B12C = [0.60504569; 0.27199376; 0.00002484];
inertiaProp.B42_r_B42C = [0.55785997 0 0];
inertiaProp.B32_r_B32C = [0.35781210 0 0];
inertiaProp.Bc2_r_Bc2C = [0.54319901; 0.10543875; 0];
inertiaProp.B11_r_B11C = [0.23805608; 0.13201777; 0];
inertiaProp.B41_r_B41C = [0.55785997 0 0];
inertiaProp.B31_r_B31C = [0.35781210 0 0];
inertiaProp.Bc1_r_Bc1C = [0.14178771; 0.16555780; 0];
% masses
inertiaProp.mP32 = 570.18877059;
inertiaProp.mB52 = 6.73059863;
inertiaProp.mP22 = 9.26136143;
inertiaProp.mB12 = 33.92850233;
inertiaProp.mB42 = 10.34519231;
inertiaProp.mB32 = 17.36281648;
inertiaProp.mBc2 = 54.58702836;
inertiaProp.mB11 = 25.52660174;
inertiaProp.mB41 = 10.34519231;
inertiaProp.mB31 = 17.36281648;
inertiaProp.mBc1 = 307.29601379;
%inertia tensors
inertiaProp.P32cI = [46.81220713 0.38607676 -0.00453819;...
0.38607676 71.92201786 -1.14320993;...
-0.00453819 -1.14320993 67.38128576];
inertiaProp.B52cI = diag([0.91789884, 0.91790043, 0.00091463]);
inertiaProp.P22cI = diag([0.00662754, 1.48387017, 1.48398069]);
inertiaProp.B12cI = [1.18803886 -2.36786418 0.00280315;...
-2.36786418 6.31493281 0.00022322;...
0.00280315 0.00022322 7.40915161];
inertiaProp.B42cI = diag([0.00370720 0.55759812 0.55785997]);
inertiaProp.B32cI = diag([0.03150902 0.90735702 0.90763033]);
inertiaProp.Bc2cI = [0.48071390 0.52924041 0;...
0.52924041 5.80912352 0;...
0 0 5.97255351];
inertiaProp.B11cI = [0.28426000 -0.06487287 0;...
-0.06487287 0.54237481 0;...
0 0 0.67891020];
inertiaProp.B41cI = diag([0.00370720 0.55759812 0.55785997]);
inertiaProp.B31cI = diag([0.03150902 0.90735702 0.90763033]);
inertiaProp.Bc1cI = [+5.892211080 +5.476111360 -0.000019630;...
+5.476111360 +28.66965601 -0.000024550;...
-0.000019630 -0.000024550 +29.78955950];