MinDEllipsoid:

Path: FormationFlying/Collision

% Computes the minimum distance between two ellipsoids.
 Performs an SVD of the ellipsoid matrix.
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   Form:
   [d,x1,x2,iter,di,x1i,x2i,iter] = MinDEllipsoid(P1,xc1,P2,xc2);
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   ------
   Inputs
   ------
   P1         (3,3)      Ellipsoid #1 matrix
   xc1        (3,1)      Ellipsoid #1 center
   P2         (3,3)      Ellipsoid #2 matrix
   xc2        (3,1)      Ellipsoid #2 center

   -------
   Outputs
   -------
   d          (1)        Minimum distance
   x1         (3,1)      Closest point on ellipsoid #1
   x2         (3,1)      Closest point on ellipsoid #2
   iter       (1)        Number of iterations
   di         (1,iter)   Minimum distance at each iteration
   x1i        (3,iter)   Ellipsoid #1 point at each iteration
   x2i        (3,iter)   Ellipsoid #2 point at each iteration
   err        (1)        Error in the slope differential at x1 and x2

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Children:

FormationFlying: Collision/DistantPtToEll
FormationFlying: Collision/Ellipsoid
Common: Graphics/NewFig
Common: Transform/Eul2Mat

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