Subroutine Type

Utility/Data Access

Definition

Returns aggregate mass data for a set of bodies.

Use

The function can be called by any user-defined subroutine.

Calling Syntax

Fortran

CALL ADD_MASS_PROPERTY(cm1, mass1, ip1, cm2, mass2, ip2)

C

c_add_mass_property(cm1, mass1, ip1, cm2, mass2, ip2)

Python:

[cm, mass, ip] = py_add_mass_property(cm1, mass1, ip1, cm2, mass2, ip2)

MATLAB

[cm, mass, ip] = m_add_mass_property(cm1, mass1, ip1, cm2, mass2, ip2)

Input Arguments

[double precision] cm1

A double precision array of length three containing the x, y, and z coordinates of one body or a set of bodies.

[double precision] mass1

A double precision array containing the mass of one body or a set of bodies.

[double precision] ip1

A double precision array of length six containing the six inertia tensors (Ixx, Iyy, Izz, Ixy, Ixz, Iyz) for one body or a set of bodies, expressed in a reference marker located at the body center of mass and oriented parallel to the global frame.

[double precision] cm2

A double precision array of length three containing the x, y, and z coordinates of the second body or a set of bodies.

[double precision] mass2

A double precision array containing the mass of the second body or a set of bodies.

[double precision] ip2

A double precision array of length six containing the six inertia tensors (Ixx, Iyy, Izz, Ixy, Ixz, Iyz) for the second body or a set of bodies, expressed in a reference marker located at the body center of mass and oriented parallel to the global frame.

Output Values

[double precision] cm

A double precision array of length three containing the x, y, and z coordinates of the combined set of bodies.

[double precision] mass

A double precision array containing the mass of the combined set of bodies.

[double precision] ip

A double precision array of length six containing the six inertia tensors (Ixx, Iyy, Izz, Ixy, Ixz, Iyz) for the combined set of bodies, expressed in a reference marker located at the body center of mass and oriented parallel to the global frame.