Path: SC/Dynamics
% Models two rigid bodies attached by a 1 to 3-dof hinge.
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Form:
[wDot, h, iner] = TBModel( w0, w1, q0to1, r0, r1, lam1, iner0, iner1,
m0, m1, torque, force, iAxis )
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Inputs
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w0 (3,1) The angular velocity of body 0 with respect to the inertial
w1 (3,1) The angular velocity of body 1 with respect to body 0
q0to1 (4,1) The quaternion from body 0 to 1
r0 (3,1) The vector from the origin to the body 0 cm in the body 0 frame
r1 (3,1) The vector from the origin to the hinge in the body 0 frame
lam1 (3,1) The vector from the hinge to the body 1 cm in the body 1 frame
iner0 (3,3) The body 0 inertia in the body 0 frame
iner1 (3,3) The body 1 inertia in the body 1 frame
m0 (1,1) The body 0 mass
m1 (1,1) The body 1 mass
torque (6,1) [totalExternalTorque(3); hingeTorque]
force (6,1) [body0ExternalForce(3); body1ExternalForce(3)] at their cms
iAxis (1,:) The axes of the second body that are not constrained.
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Outputs
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wDot (6,1) The angular acceleration vector
h (3,1) The angular momentum in the body frame
iner (6,6) The generalized inertia matrix
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Common: Quaternion/Q2Mat Math: Linear/Cross Math: Linear/SkewSymm
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