function [stewart] = initializeCylindricalStruts(stewart, args)
% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
%
% Syntax: [stewart] = initializeCylindricalStruts(args)
%
% Inputs:
%    - args - Structure with the following fields:
%        - Fsm [1x1] - Mass of the Fixed part of the struts [kg]
%        - Fsh [1x1] - Height of cylinder for the Fixed part of the struts [m]
%        - Fsr [1x1] - Radius of cylinder for the Fixed part of the struts [m]
%        - Msm [1x1] - Mass of the Mobile part of the struts [kg]
%        - Msh [1x1] - Height of cylinder for the Mobile part of the struts [m]
%        - Msr [1x1] - Radius of cylinder for the Mobile part of the struts [m]
%
% Outputs:
%    - stewart - updated Stewart structure with the added fields:
%      - struts_F [struct] - structure with the following fields:
%        - M [6x1]   - Mass of the Fixed part of the struts [kg]
%        - I [3x3x6] - Moment of Inertia for the Fixed part of the struts [kg*m^2]
%        - H [6x1]   - Height of cylinder for the Fixed part of the struts [m]
%        - R [6x1]   - Radius of cylinder for the Fixed part of the struts [m]
%      - struts_M [struct] - structure with the following fields:
%        - M [6x1]   - Mass of the Mobile part of the struts [kg]
%        - I [3x3x6] - Moment of Inertia for the Mobile part of the struts [kg*m^2]
%        - H [6x1]   - Height of cylinder for the Mobile part of the struts [m]
%        - R [6x1]   - Radius of cylinder for the Mobile part of the struts [m]

    arguments
        stewart
        args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
        args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
        args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
        args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
        args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
        args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
    end

    stewart.struts_M.type = 1;

    %% Compute the properties of the cylindrical struts
    Fsm = args.Fsm;
    Fsh = args.Fsh;
    Fsr = args.Fsr;

    Msm = args.Msm;
    Msh = args.Msh;
    Msr = args.Msr;

    I_F = [1/12 * Fsm * (3*Fsr^2 + Fsh^2), ...
           1/12 * Fsm * (3*Fsr^2 + Fsh^2), ...
           1/2  * Fsm * Fsr^2];

    I_M = [1/12 * Msm * (3*Msr^2 + Msh^2), ...
           1/12 * Msm * (3*Msr^2 + Msh^2), ...
           1/2  * Msm * Msr^2];
    stewart.struts_M.I = I_M;
    stewart.struts_F.I = I_F;

    stewart.struts_M.M = args.Msm;
    stewart.struts_M.R = args.Msr;
    stewart.struts_M.H = args.Msh;

    stewart.struts_F.type = 1;

    stewart.struts_F.M = args.Fsm;
    stewart.struts_F.R = args.Fsr;
    stewart.struts_F.H = args.Fsh;

end