Path: SC/Attitude
% Computes the transfer matrix from gimbal rates to torques.
t = a*[alphaDot(1);betaDot(1);...alphaDot(k);betaDot(k)]
In the base frame the CMG momentum vector is [0;h;0]
initialize u.h (n) Scalar momentum
u.b {n}(3,3) Transforms from CMG base to body
u.alpha (n) Inner gimbal angles (rad)
u.beta (n) Outer gimbal angles (rad)
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Form:
y = CMGAMatrix( u )
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Inputs
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u (1,1) Data Structure
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Outputs
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y (3,:) Torque matrix
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