11 lines
470 B
Mathematica
11 lines
470 B
Mathematica
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function out = inertiaMatrix2Vector(I)
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% -----------------------------------------------------------------------
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% This function conerts ineria matrix of the link to vector in
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% 'Gautier-Khalil' notation (because it is used in all their papers)
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% Input:
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% I - 3x3 inertia matrix of the link
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% Output:
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% out - [Ixx Ixy Ixz Iyy Iyz Izz]
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% -----------------------------------------------------------------------
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out = [I(1,1) I(1,2) I(1,3) I(2,2) I(2,3) I(3,3)]';
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