RHSThreeBody:

Path: SCPro/DynamicalModels

% Right hand side for a three body system.
   Each of the two appendages have one degree of freedom.

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   Form:
   d = RHSThreeBody;
   [xDot, h] = RHSThreeBody( x, t, d )
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   ------
   Inputs
   ------
   x             (11,1)  [q;omega0;theta1;theta2;omega1;omega2]
   t             (1,1)   Time - unused
   d             (1,1)   Data structure
                         .inr0     (3,3) Inertia matrix core body
                         .inr1     (3,3) Inertia matrix body 1
                         .inr2     (3,3) Inertia matrix body 2
                         .m0       (1,1) Mass core body
                         .m1       (1,1) Mass matrix body 1
                         .m2       (1,1) Mass matrix body 2
                         .lambda1  (3,1) Location of body 1 hinge
                         .lambda2  (3,1) Location of body 2 hinge
                         .u1       (3,1) Body 1 hinge unit vector
                         .u2       (3,1) Body 2 hinge unit vector
                         .rho0     (3,1) Location of body 0 center of mass
                         .rho1     (3,1) Location of body 1 center of mass
                         .rho2     (3,1) Location of body 2 center of mass

   -------
   Outputs
   -------
   xDot           (11,1)  State derivative
   h              (3,1)   Angular momentum in the inertial frame

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Children:

AerospaceUtils: Coord/QIToBDot
Common: CommonData/SwooshWatermark
Common: Control/C2DZOH
Common: General/IsVersionAfter
Common: General/StringToTokens
Common: General/Watermark
Common: Graphics/AddAxes
Common: Graphics/Coordinates
Common: Graphics/NewFig
Common: Quaternion/AU2Q
Common: Quaternion/Q2Mat
Common: Quaternion/QTForm
Common: Transform/AU2M
Math: Linear/Skew
Math: Linear/SkewSq
Math: Linear/SkewSymm

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