RobotLocomotion/drake — pull request #361 by anirudhamajumdar (2014-08-29 20:03:31+00:00)
Title: RigidBodyPropellor.m

Adding RigidBodyPropellor.m. This adds both a thrust and a moment due to aerodynamic drag from a propellor spinning, allowing a quadrotor to directly control its yaw.