Path: SC/Dynamics
% Right-hand-side for n rigid bodies attached to a central hub.
Each of the appendages has one degree of rotational freedom connected
to the hub. This is defined as around the specified unit vector.
The axis of rotation for each appendage is defined by u in the data
structure.
Type d = RHSNBodyCentralHub to get a default data structure for a
single appendage.
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Form:
[xDot, h] = RHSNBodyCentralHub( x, t, g )
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Inputs
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x (7+2n,1) [q;omega0;theta1;...;omega1...]
t (1,1) Time - unused
g (.) Data structure
.inr {n+1} n+1 3x3 inertia matrices
.m (1,n+1) Masses
.lambda (3,n+1) Location of the body hinge
.u (3,n+1) Body n hinge unit vector
.rho (3,n+1) Location of body center of mass
.torque (3,n+1) Torques
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Outputs
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xDot (7+2n,1) State derivative
h (3,1) Angular momentum in the inertial frame
gInr (:,:) Generalized inertia
rhs (3+n,1) Right hand side of the dynamical equations
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Reference: Spacecraft Attitude and Orbit Control, "Multibody Dynamics",
PSS. In Vol. 2, Special Topics, 3rd edition.
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AerospaceUtils: Coord/QIToBDot Common: Quaternion/QTForm Common: Transform/AU2M Math: Linear/Skew
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