Path: SC/DemoFuns
% The constraint equations and Jacobians. The outputs are Holonomic Non Holonomic --------- ------------- phi phi phiQ A phiT 0 phiDot BDot phiQDot ADot where the holonomic constraints are of the form phi(q,t) = 0 and the non holonomic constraints are of the form A(q,t)qDot + B(q,t) = 0 -------------------------------------------------------------------------- Form: [phi, phiQ, phiT, phiDot, phiQDot] = KConstQ( q, t, omega ) -------------------------------------------------------------------------- ------ Inputs ------ q (4,1) The quaternion t (1,1) Time omega (3,1) Body rates ------- Outputs ------- phi (n,1) The constraint vector phiQ (n,n) The Jacobian of the constraint vector with respect to the state phiT (n,1) The Jacobian of the constraint vector with respect to time phiDot (n,1) The derivative of the state vector with respect to time phiQDot (n,n) The time derivative of the Jacobian marix --------------------------------------------------------------------------
AerospaceUtils: Coord/QIToBDot Common: Control/C2DZOH Math: Linear/SkewSymm
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