|
SUPPORT SITE |
|
|
|
SUPPORT SITE |
|
Path: SCPro/DynamicalModels
% Right hand side for a three body system.
Each of the two appendages have one degree of freedom.
Since version 10.
--------------------------------------------------------------------------
Form:
[xDot, h] = RHSThreeBody( x, t, d )
--------------------------------------------------------------------------
------
Inputs
------
x (11,1) [q;omega0;theta1;theta2;omega1;omega2]
t (1,1) Time - unused
d (1,1) Data structure
.inr0 (3,3) Inertia matrix core body
.inr1 (3,3) Inertia matrix body 1
.inr2 (3,3) Inertia matrix body 2
.m0 (1,1) Mass core body
.m1 (1,1) Mass matrix body 1
.m2 (1,1) Mass matrix body 2
.lambda1 (3,1) Location of body 1 hinge
.lambda2 (3,1) Location of body 2 hinge
.u1 (3,1) Body 1 hinge unit vector
.u2 (3,1) Body 2 hinge unit vector
.rho0 (3,1) Location of body 0 center of mass
.rho1 (3,1) Location of body 1 center of mass
.rho2 (3,1) Location of body 2 center of mass
-------
Outputs
-------
xDot (11,1) State derivative
h (3,1) Angular momentum in the inertial frame
--------------------------------------------------------------------------
AerospaceUtils: Coord/QIToBDot Common: Quaternion/QTForm Common: Transform/AU2M Math: Linear/Skew Math: Linear/SkewSq
Back to the SCPro Module page