TwoBodyRateModel:

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   Gimballed boom dynamics model for fixed gimbal rates.
   The core body should be body 1 and the boom body 2 in the CAD model.
   The gimbal rates are termed aDot.

   Since version 7.
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   Form:
   [xDot, h, gIner] = TwoBodyRateModel( x, t, force, torque, g, p, hW )
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   ------
   Inputs
   ------
   t             (1,1)    Time
   x             (15,1)   The state vector [q;omega;a;aDot]
   force         (:)      Force structure
                           .totalBody   (3,1,2) Total torque on the vehicle
   torque        (:)      Torque structure
                           .totalBody   (3,1,2) Total torque on the vehicle
   g             (1,1)    CAD model
   p             (1,1)    Profile
                           .axis
   hW            (3,1)    Stored angular momentum, body frame

   -------
   Outputs
   -------
   xDot          (7+2n,1)  [qDot;omegaDot;aDot;aDDot]
   h             (3,1)     Inertial angular momentum in the body frame
   gIner         (3+n,3+n) Generalized inertia matrix

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Children:

AeroUtils: Coord/QIToBDot
Math: Linear/Cross
Math: Linear/Skew
Math: Linear/SkewSq
Sail: Disturbances/HingeRotationMatrix