Calculates the inertia tensor and transforms along
rotation axes.
This function calculates the inertia tensor and returns
a 4-tuple.
Returns:The returned dictionary has four possible keys:

transformed_Cartesian: A frame that is transformed to the basis spanned by

the eigenvectors of the inertia tensor. The x-axis is the axis with the lowest inertia moment, the z-axis the one with the highest. Contains also a column for the mass

diag_inertia_tensor: A vector containing the sorted inertia moments after


inertia_tensor: The inertia tensor in the old basis.

eigenvectors: The eigenvectors of the inertia tensor in the old basis.

Return type:dict