RHSNBodyCentralHub:

Path: SCPro/DynamicalModels

% Right hand side for a n bodies attached to a central hub.
   Each of the appendages has one degree of freedom connected to the hub.

   Since version 10.
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   Form:
   [xDot, h] = RHSNBodyCentralHub( x, t, g )
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   ------
   Inputs
   ------
   x             (11,1)  [q;omega0;theta1;...;omega1...]
   t             (1,1)   Time - unused
   g             (1,1)   Data structure
                         .inr      {n}     n+1 3x3 inertia matrices
                         .m        (1,n+1) Masses
                         .lambda   (3,n+1) Location of body hinge
                         .u        (3,n+1) Body n hinge unit vector
                         .rho      (3,n+1) Location of body center of mass
                         .torque   (3,n+1) Torques

   -------
   Outputs
   -------
   xDot           (11,1)  State derivative
   h              (3,1)   Angular momentum in the inertial frame

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   Reference: Spacecraft Attitude and Orbit Control, "Multibody Dynamics", 
   PSS. In Vol. 2, Special Topics, 3rd edition.
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Children:

AerospaceUtils: Coord/QIToBDot
Common: Quaternion/QTForm
Common: Transform/AU2M
Math: Linear/Skew

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