GimbalRates:

--------------------------------------------------------------------------
   Compute commanded gimbal rates based on commanded angles and a fixed rate.
   Determines optimal angles and direction for minimum angular travel.
   Designed for a 12 gimbal sequence (from core to rotated body).

   Since version 7.
--------------------------------------------------------------------------
   Form:
   [rate,angleCommand] = GimbalRates( angle, angleCommand, rateNom, dT ) 
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   angle        (2,1)   Current gimbal angles
   angleCommand (2,1)   New angle command  (outer, inner)
   rateNom      (2,1)   Nominal gimbal rates
   dT           (1,1)   Discrete time interval
   zeroTorque   (1,1)   Flag to move inner gimbal first to prevent torques

   -------
   Outputs
   -------
   rate         (2,1)   Gimbal rates
   angleCommand (2,1)   Updated angle commands

--------------------------------------------------------------------------

Children:

Math: Linear/Mag
Math: Trigonometry/WrapPhase