|
SUPPORT SITE |
|
|
|
SUPPORT SITE |
|
Path: SCPro/DynamicalModels
% Right hand side of a rigid body with offset CM
The reference center is not the center of mass. The state vector is
[position;velocity;quaternion;angular rate]
--------------------------------------------------------------------------
Form:
xDot = RHSRigidBodyOffsetCM( x, t, d )
--------------------------------------------------------------------------
------
Inputs
------
x (13,1) [r;v;q;w]
t (1,1) Time (not used)
d (1,1) Data structure
.mu (1,1) Gravitational parameter
.f (3,n) Force vectors in ECI frame
.t (3,n) Torque vectors in body frame
.c (3,1) Vector from center to cm
.inr (3,3) Inertia matrix
.m (1,1) Mass
-------
Outputs
-------
xDot (13,1) d[r;v;q;w]/dt
--------------------------------------------------------------------------
AerospaceUtils: Coord/QIToBDot Common: Quaternion/Q2Mat Math: Linear/Cross Math: Linear/Mag Math: Linear/Skew
Back to the SCPro Module page