Path: SC/Dynamics

% Model for a spacecraft with a single pivoted momentum wheel. 
   The pivot has one degree of freedom of rotation about the axis uP. The wheel
   has one degree of rotation about the axis uW. The wheel is assumed to be

   Since version 1.
   [xDot, h, i, p] = SCwPivot( x, jW, jP, iS, t, tW, tP, uW, uP, pivotC )

   x           (6,1)   State vector [theta,w(3,1),wP,wW]
   jW          (3,3)   Wheel inertia (must be symmetric)
   jP          (3,3)   Pivot assembly inertia
   iS          (3,3)   Spacecraft inertia
   t           (3,1)   Body torque
   tW          (1,1)   Wheel torque
   tP          (1,1)   Pivot torque
   uW          (3,1)   Wheel axis
   uP          (3,1)   Pivot axis
   pivotC      (1,1)   Commanded pivot angle

   xDot        (6,1)   State vector [theta,w(3,1),wP,wW]
   h           (3,1)   Momentum
   i           (5,5)   Generalized inertia matrix
   p           (5,1)   Dynamical coupling terms



Common: Quaternion/AU2Q
Common: Quaternion/Q2Mat
Math: Linear/Cross
Math: Linear/SkewSymm

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