Path: SC/Dynamics
% Right hand side of a rigid body with offset CM
The reference center is not the center of mass. The state vector is
[position;velocity;quaternion;angular rate]
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Form:
d = RHSRigidBodyOffsetCM
xDot = RHSRigidBodyOffsetCM( x, t, d )
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Inputs
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x (13,1) [r;v;q;w]
t (1,1) Time (not used)
d (1,1) Data structure
.mu (1,1) Gravitational parameter
.f (3,1) Force vectors in ECI frame
.t (3,1) Torque vectors in body frame
.c (3,1) Vector from center to cm
.inr (3,3) Inertia matrix
.m (1,1) Mass
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Outputs
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xDot (13,1) d[r;v;q;w]/dt
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AerospaceUtils: Coord/QIToBDot Common: Database/Constant Common: Quaternion/Q2Mat Math: Linear/Cross Math: Linear/Mag Math: Linear/Skew
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