def inertia(frame, ixx, iyy, izz, ixy=0, iyz=0, izx=0):

    if not isinstance(frame, ReferenceFrame):
        raise TypeError('Need to define the inertia in a frame')
    ol = sympify(ixx) * (frame.x | frame.x)
    ol += sympify(ixy) * (frame.x | frame.y)
    ol += sympify(izx) * (frame.x | frame.z)
    ol += sympify(ixy) * (frame.y | frame.x)
    ol += sympify(iyy) * (frame.y | frame.y)
    ol += sympify(iyz) * (frame.y | frame.z)
    ol += sympify(izx) * (frame.z | frame.x)
    ol += sympify(iyz) * (frame.z | frame.y)
    ol += sympify(izz) * (frame.z | frame.z)
    return ol
Returns ``True`` if the specified service is available, otherwise returns
dataset/ETHPy150Open sympy/sympy/sympy/physics/mechanics/functions.py/inertia--crossover with--dataset/ETHPy150Open saltstack/salt/salt/modules/gentoo_service.py/available