Verify addition of matrix elements to make tensors length 7M or 7N does not affect numerical results

To make M_eff full rank, I must extend the rbm connectivity and mass tensors to have dimensions of 7M and 7N, rather than 6M and 6N that currently appear along some axes. This necessitates adding in 2 new non-zero tensor elements to make the tensors full-rank after the extension.

I am adding the same non-zero constant to the mass matrices referenced in Udwadia and Shutte, where they show that it does not affect the final results, as one would expect. The elements it contracts on the velocity/acceleration components are always zero (in angular coordinates) and so it does not alter numerical results. To accomplish this, I am simply making the intrinsic moment of inertia tensor 4x4 instead of 3x3.

On the RBM tensors, I am adding another constant, w, to accomplish the extension.

Verify neither of these constants affects numerical results (as expected). This issue is referenced by 2 todos on the Simulation Checks project.

alec-glisman / Swimming-in-Potential-Flow

Verify addition of matrix elements to make tensors length 7M or 7N does not affect numerical results #6