FRB:

Path: SC/Dynamics

% Rigid body right-hand-side.
   See also RBModel.

--------------------------------------------------------------------------
   Form:
   xDot = FRB( x, t, inr, invInr, tExt )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   x            (7,1)     The state vector [q;w]
   t            (1,1)     Time
   inr          (3,3)     Inertia
   invInr       (3,3)     Inverse inertia
   tExt         (3,1)     External torque

   -------
   Outputs
   -------
   xDot         (7,1)     The derivative of the state vector

--------------------------------------------------------------------------

Children:

AerospaceUtils: Coord/QIToBDot
SC: Dynamics/RBModel
Common: Control/C2DZOH
Math: Linear/Cross
Math: Linear/SkewSymm

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