Path: SC/Actuator
% Generate unit vectors for a RWA pyramid. They are evenly spaced around the apex. Type URWAPyramid for a demo. Since version 2014.1 -------------------------------------------------------------------------- Form: uRWA = URWAPyramid( n, uC, cant ) -------------------------------------------------------------------------- ------ Inputs ------ n (1,1) Number of wheels uC (3,1) Axis for the pyramid apex cant (1,1) Cant angle from the apex ------- Outputs ------- uRWA (3,n) Unit vectors --------------------------------------------------------------------------
Common: General/DeBlankLT Common: Graphics/NewFig Common: Graphics/PltStyle Common: Graphics/XLabelS Common: Graphics/YLabelS Common: Graphics/ZLabelS Common: Quaternion/QForm Common: Quaternion/QTForm Common: Quaternion/U2Q Math: Geometry/Perpendicular Math: Linear/Cross Math: Linear/Dot Math: Linear/DupVect Math: Linear/Unit
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