RHSNBodySH:

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. 

--------------------------------------------------------------------------
   Form:
   [xDot, h, gInr] = RHSNBodySH( x, t, g )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   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

   -------
   Outputs
   -------
   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

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

Children:

AerospaceUtils: Coord/QIToBDot
Common: Quaternion/Q2Mat
Common: Quaternion/QTForm
Math: Linear/Skew

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