Validate mass properties

validate_mass_props() ensures that a mass properties list satisfies the following constraints:

• mass is non-missing and positive

• center_mass is a 3-vector of non-missing numeric values

• point is TRUE or FALSE

• if point is FALSE:

  • inertia is positive definite

  • eigenvalues \(\{\lambda_1, \lambda_2, \lambda_3\}\) of inertia satisfy the triangle inequalities:

    • \(\lambda_1 < \lambda_2 + \lambda_3\)

    • \(\lambda_2 < \lambda_1 + \lambda_3\)

    • \(\lambda_3 < \lambda_1 + \lambda_2\)

Usage

validate_mass_props(mp)

Arguments

mp

Mass properties list containing the following named elements

• mass Numeric mass.

• center_mass Numeric 3-vector center of mass.

• point Logical indicating point mass. The inertia of point masses is excluded from calculations.

• inertia Numeric 3x3 matrix inertia tensor.

Value

TRUE if valid, stops otherwise

Examples

mp <- get_mass_props(test_table, "C.1")
validate_mass_props(mp)
#> [1] TRUE