Path: FormationFlying/Coord
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Generate the quaternion that transforms from the ECI to the Frenet frame.
The coordinates of the Frenet frame are defined as:
x: Along velocity
z: Orbit-normal, or cross-track
y: Bi-Normal axis, Completes RHS (Zenith for circular orbits)
The relative position vector in the Frenet frame can be computed as:
rF = QForm( qEF, drE );
where dr is the relative position vector in the ECI frame. Or you may obtain
the transformation matrix, mEF, as the second output. In this case, use:
rF = mEF*drE;
Since version 7.
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Usages:
qEF = QFrenet( rE, vE );
[qEF,mEF] = QFrenet( rE, vE );
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Inputs
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rE (3,1) ECI frame position
vE (3,1) ECI frame velocity
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Outputs
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qEF (4,1) ECI to Frenet quaternion
mEF (4,1) ECI to Frenet transformation matrix
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Common: Quaternion/Mat2Q Math: Linear/Cross Math: Linear/Unit
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