FSailTB:

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   Rewrite of FTB in preferred sail module format
   The state is assumed to begin with [r;v;q0;w0;q1;w1]

   Since version 7.
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   Form:
   xDot = FSailTB( t, x, force, torque, d )
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   ------
   Inputs
   ------
   t             (1,1)    Time
   x             (20,1)   The state vector [r;v;q1;w1;q2;w2]
   force         (:)      Force structure
                           .totalBody   (3,1,2) Total force on each body
   torque        (:)      Torque structure
                           .total   (3,1) Total torque on the vehicle
   d             (1,1)    Data structure
     r0      (3,1)     The vector from the origin to the body 0 cm in the body 0 frame
     r1      (3,1)     The vector from the origin to the hinge in the body 0 frame
     lam1    (3,1)     The vector from the hinge to the body 1 cm in the body 1 frame
     iner0   (3,3)     The body 0 inertia in the body 0 frame
     iner1   (3,3)     The body 1 inertia in the body 1 frame
     m0                The body 0 mass
     m1                The body 1 mass
     iAxis   (1,:)     The axes of the second body that are not constrained.
     hingeTorque

   -------
   Outputs
   -------
   xADot         (7,1)     The derivative of the attitude state vector

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Children:

SC: Dynamics/FTB