A double_gimbal that accepts a rate command.
More...
#include <double_gimbal.h>
Inherits dsim_model.
|
|
void | initialization_complete () |
| | Finish initialization.
|
| |
|
void | initialize_data () |
| | Initialize outlets and output variables.
|
| |
|
void | rhs (double t, double jd) |
| | Computation done during numerical integration.
|
| |
|
void | complete_timestep () |
| | Computation done after numerical integration.
|
| |
|
|
dsim_variable | parent_quaternion_dsim |
| | Parent quaternion.
|
| |
|
dsim_variable | parent_position_dsim |
| | Parent position.
|
| |
|
dsim_variable | parent_velocity_dsim |
| | Parent velocity.
|
| |
|
dsim_variable | parent_body_rate_dsim |
| | Parent body rate.
|
| |
|
dsim_variable | parent_acceleration_dsim |
| | Parent acceleration.
|
| |
|
dsim_variable | parent_angularAcceleration_dsim |
| | Parent angular acceleration.
|
| |
|
dsim_variable | parent_centerOfMass_dsim |
| | Parent center of mass.
|
| |
|
dsim_variable | rate_command_dsim |
| | Double gimbal rate command.
|
| |
|
dsim_variable | quaternion_base_to_axis_dsim |
| | Quaternion from the base frame to the axis frame.
|
| |
|
dsim_variable | quaternion_dsim |
| | Output quaternion.
|
| |
|
dsim_variable | position_dsim |
| | Output position.
|
| |
|
dsim_variable | velocity_dsim |
| | Output velocity.
|
| |
|
dsim_variable | rotational_velocity_dsim |
| | Output angular velocity.
|
| |
|
dsim_variable | acceleration_dsim |
| | Output acceleration.
|
| |
|
dsim_variable | angular_acceleration_dsim |
| | Output angular acceleration.
|
| |
|
dsim_variable | center_mass_dsim |
| | Output center of mass.
|
| |
|
dsim_variable | body_rate_dsim |
| | Output body rate.
|
| |
|
dsim_variable | gimbal_angle_dsim |
| | Gimbal angle (rad) which is an integrated state.
|
| |
|
dsim_variable | gimbal_quaternion_dsim |
| | Gimbal quaternion.
|
| |
|
dsim_variable | gimbal_unit_vector_dsim |
| | Gimbal unit vectors.
|
| |
A double_gimbal that accepts a rate command.
The double_gimbal rotates about the x-axis in the double_gimbal frame. An additional input is the fixed transformation matrix from the previous frame. The commanded input is a rate. Output is the quaternion from the base frame to the rotated frame. You can stack these in a hierarchical tree. This module takes the parents quaternion, position, etc and adds the effect of the double_gimbal motion. The input is double_gimbal rate. Dynamics are not modeled.
The documentation for this class was generated from the following files:
- double_gimbal.h
- double_gimbal.cc
