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Path: SCPro/ProAttitude
% Calculate the alignment quaternion while applying constraints
Rotate about an axis to align "ua" as close as possible to target "ut" with
constraint that the angle between a rotated u1 vector and a fixed u2 vector be
greater than minSep
Type QRotateToAlignWithCon for a demo
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Form:
[qRot,ub,rotAngle,sepAngle,angleRange,sepCon,sepBnd,sep0,rot0] = ...
QRotateToAlignWithCon( axis, ua, ut, u1, u2, minSep )
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Inputs
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axis (3,1) Axis of rotation
ua (3,1) Vector to align
ut (3,:) Target vector to be aligned with
u1 (3,N) Vector u1. Constraint is:
acos( Dot(u1,u2) ) >= minSep
u2 (3,:,N) Vector u2.
minSep (1,N) Keep angle between u1 and u2 greater than minSep.
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Outputs
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qRot (4,:) Quaternion that rotates ua to ub about axis
ub (3,:) Vector achieved after rotation
rotAngle (1,:) Angular rotation about the axis
sepAngle (1,:) Separation angle between ub and ut
angleRange (:,2) Range of valid rotation angles
sepCon (1,N) Separation angle between u1 and u2
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Common: Graphics/Coordinates Common: Quaternion/QForm Math: Geometry/AngleSepFromRotation Math: Geometry/FindValidAngleRange Math: Geometry/InsideAngleRange Math: Linear/Cross Math: Linear/Unit
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