FTimeVaryingI:

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   Attitude RHS with time varying inertia of a single body.
   Computes dynamics and kinematics for q, w, and I. 
   A function IDotDefault is available in this function which returns zero 
   derivative.

   Since version 7.
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   Form:
   xDot = FTimeVaryingI( t, x, force, torque, d )
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   ------
   Inputs
   ------
   t             (1,1)    Time
   x             (24,1)    The state vector [r;v;q;w;I]
   force         (:)      Force structure
                           .total   (3,1) Total force on the vehicle
   torque        (:)      Torque structure
                           .total   (3,1) Total torque on the vehicle
   d             (1,1)    Data structure
                           .fInertia (:)  Function providing Idot, f( t, d )
                                          where Idot is in 3x3 matrix form

   -------
   Outputs
   -------
   xDot          (18,1)  [qDot;omegaDot;IDot]

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Children:

AeroUtils: Coord/QIToBDot
Math: Linear/Cross
Math: Linear/Skew