TreeAdd:

Path: SC/Dynamics

% Add a body to the tree data structure.

   Since version 2.
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   Form:
   x = TreeAdd( inertia, r, lambda, mass, kPrev, dOF, w, q, b, kSpring, cSpring, name )
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   -----
   Input
   -----
   inertia         (3,3) Inertia with respect to the body c.m.
   r               (3,1) Vector from the reference for the body to the c.m.
   lambda          (3,1) Vector from the reference for the previous
                         body in the chain to the hinge point for the body
   mass            (1,1) Body mass
   kPrev           (1,1) ID for the previous body in the chain
   dOF             (1,1) Active degree of freedom. If 0 all DOF are
                         active. Otherwise only dOF is active
   w               (:,1) Initial rate
   q               (:,1) Initial attitude
   b               (3,3) Transformation matrix from the previous body
                         frame to the hinge between the bodies.
   kSpring         (3,3) General stiffness matrix
   cSpring         (3,3) General damping matrix
   name            (1,:) Name of the component

   ------
   Output
   ------
   x               (:,:) Data structure

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Children:

Common: Quaternion/QUnit

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