Path: Common/Quaternion
% Computes the quaternion derivative from angular velocity. Computes the time derivative of a quaternion that transforms from the body frame to the inertial frame given the angular velocity measured in the body frame. -------------------------------------------------------------------------- Form: qD = QBToIDot( q, w ) [a, b, c, d, dqdt] = QBToIDot( q, w ) [a, b, c, d, dqdt] = QBToIDot( q, w, dT ) -------------------------------------------------------------------------- ------ Inputs ------ q (4,1) Quaternion from b to a w (3,1) Rate of b with respect to a measured in b dT (1,1) Time step ------- Outputs ------- qD (4,1) Derivative of Q or a Plant matrix b Input matrix c Measurement matrix d Feedthrough matrix dqdt Constant quaternion derivative --------------------------------------------------------------------------
Common: Control/C2DZOH Math: Linear/SkewSymm
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