Path: SCPro/DynamicalModels
% Right hand side for a n bodies attached to a central hub.
Each of the appendages has three degrees of rotational freedom connected
to the hub.
Type d = RHSNBodySH to get a default data structure for a rigid body.
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Form:
[xDot, h, gInr] = RHSNBodySH( x, t, g )
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Inputs
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x (7*(n+1),1) [q1;q2;...;omega1;omega2;...]
t (1,1) Time - unused
g (1,1) Data structure
.inr {n+1} 3x3 inertia matrices
.m (1,n+1) Masses
.lambda (3,n+1) Location of the body hinge j
.rho (3,n+1) Location of body j center of mass
.torque (3,n+1) Torques
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Outputs
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xDot (7*(n+1),1) State derivative
h (3,1) Angular momentum in the inertial frame
gInr (:,:) Generalized inertia
rhs (3*(n+1),1) Right hand side of the dynamical equations
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AerospaceUtils: Coord/QIToBDot Common: Quaternion/Q2Mat Common: Quaternion/QTForm Math: Linear/Skew
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