InertiaP:

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   Compute the principal moments of inertia from the inertia about the CM.
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   Form:
   [IP,T] = InertiaP( ICM );
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   ------
   Inputs
   ------
   ICM     (3,3)    Inertia about CM
   
   -------
   Outputs
   -------
   IP      (3,3)    Principal moments of inertia 

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