A single axis gimbal that accepts a rate command.
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#include <gimbal.h>
Inherits dsim_model.
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void | initialization_complete () |
| | Finish initialization.
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void | initialize_data () |
| | Initialize outlets and output variables.
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void | rhs (double t, double jd) |
| | Computation done during numerical integration.
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void | complete_timestep () |
| | Computation done after numerical integration.
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dsim_variable | parent_quaternion_dsim |
| | Parent quaternion.
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dsim_variable | parent_position_dsim |
| | Parent position.
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dsim_variable | parent_velocity_dsim |
| | Parent velocity.
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dsim_variable | parent_body_rate_dsim |
| | Parent body rate.
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dsim_variable | parent_acceleration_dsim |
| | Parent acceleration.
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dsim_variable | parent_angularAcceleration_dsim |
| | Parent angular acceleration.
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dsim_variable | parent_centerOfMass_dsim |
| | Parent center of mass.
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dsim_variable | rate_command_dsim |
| | Gimbal rate command.
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dsim_variable | quaternion_base_to_axis_dsim |
| | Quaternion from the base frame to the axis frame.
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dsim_variable | quaternion_dsim |
| | Output quaternion.
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dsim_variable | position_dsim |
| | Output position.
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dsim_variable | velocity_dsim |
| | Output velocity.
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dsim_variable | rotational_velocity_dsim |
| | Output angular velocity.
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dsim_variable | acceleration_dsim |
| | Output acceleration.
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dsim_variable | angular_acceleration_dsim |
| | Output angular acceleration.
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dsim_variable | center_mass_dsim |
| | Output center of mass.
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dsim_variable | body_rate_dsim |
| | Output body rate.
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dsim_variable | gimbal_angle_dsim |
| | Gimbal angle (rad) which is an integrated state.
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dsim_variable | gimbal_angle_scaled_dsim |
| | Gimbal angle (-1 to 1)
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dsim_variable | gimbal_angle_max_dsim |
| | Gimbal maximum angle (deg)
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A single axis gimbal that accepts a rate command.
The gimbal rotates about the x-axis in the 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 gimbal motion. The input is gimbal rate. Dynamics are not modeled.
The documentation for this class was generated from the following files:
