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SUPPORT SITE |
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SUPPORT SITE |
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Path: SC/Dynamics
% Computes the momentum for the topological tree dynamics.
Since version 2.
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Form:
[h, hI, hMag] = TreeH( x, t, treeDS, bodyData )
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Inputs
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x (:,1) State vector [rCM;vCM;[q;w]]
t (1,1) Time
treeDS (:,:) Tree connection data structure
bodyData (:,:) Body data structure
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Inputs
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h (3,1) Angular momentum in the body frame
hI (3,1) Angular momentum in the inertial frame
hMag (1,1) Magnitude of the angular momentum
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Common: Quaternion/Q2Mat Common: Quaternion/QForm Common: Quaternion/QPose Math: Linear/Cross Math: Linear/Mag Math: Linear/SkewSymm
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