QAlignWithCon:

Path: SCPro/ProAttitude

% Rotate about a body axis to align a body vector with an inertial vector

  1. Begin with an initial quaternion
  2. Rotate about a body-frame axis to align a body-frame vector with an 
     inertial target vector
  3. Return the new quaternion

--------------------------------------------------------------------------
   Form:
   [q,rotAngle,sepAngle,angleRange,sepCon] = QAlignWithCon( q0, uBAxis, uBVec,...
                                              uITarget, u1B, u2I, minSep )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   q0          (4,:)   Beginning inertial to body quaternion
   uBAxis      (3,1)   Body-frame axis to rotate about
   uBVec       (3,1)   Body-frame vector to align
   uITarget    (3,:)   Inertial-frame vector to point at
   u1B         (3,N)   Vector u1 in body frame. Constraint is: 
                           acos( Dot(u1,u2) ) >= minSep
   u2I         (3,:,N) Vector u2 in inertial frame.
   minSep      (1,N)   Keep angle between u1 and u2 greater than minSep.

   -------
   Outputs
   -------
   q           (4,:)  Resulting Inertial-to-Body quaternion after rotation
   rotAngle    (1,:)  Angle of rotation [rad]
   sepAngle    (1,:)  Separation angle between body vector and target [rad]
   angleRange  (:,4)  Range of valid rotation angles
   sepCon      (1,N)  Separation angle between u1 and u2

--------------------------------------------------------------------------

Children:

SCPro: ProAttitude/QRotateToAlignWithCon
Common: CommonData/SwooshWatermark
Common: General/CellToMat
Common: General/MatToCell
Common: General/Watermark
Common: Graphics/Coordinates
Common: Graphics/NewFig
Common: Graphics/Plot2D
Common: Graphics/PlotAngleRange
Common: Graphics/PltStyle
Common: Quaternion/QForm
Common: Quaternion/QMult
Common: Quaternion/QPose
Common: Quaternion/QTForm
Math: Geometry/AngleSepFromRotation
Math: Geometry/FindValidAngleRange
Math: Geometry/InsideAngleRange
Math: Geometry/MergeAngleRange
Math: Linear/Cross
Math: Linear/Unit
Math: Trigonometry/LinearSinCosToQuadCos
Math: Trigonometry/SolveLinearSinCos

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