[ODE] What is an inertia tensor?

[Frederic Ferland]

In section 8.2 of the user's guide, there is a parameter in the dMass 
structure called "I".  The comment next to it says "3x3 inertia tensor in 
body frame, about POR".  Can someone explain this in a little more 
details?  What is an inertia tensor supposed to do, how do I know what 
value to put in the matrix and what does POR mean?

Thanks!

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Frederic Ferland <fref@bigfoot.com>