00001 00002 00008 00010 00011 00012 #ifndef QUATERNIONDYNAMICS_H 00013 #define QUATERNIONDYNAMICS_H 00014 #include "../rotation/Rotation.h" 00015 00016 static Vector QuaternionDynamics(const double &_time, const Vector &w_BI, const Matrix &_params) 00017 { 00018 Matrix MOI(3,3); 00019 MOI = _params(_(MatrixIndexBase+0,MatrixIndexBase+2),_(MatrixIndexBase+0,MatrixIndexBase+2)); 00020 Matrix Tmoment(3,1); 00021 Tmoment = ~_params(MatrixIndexBase + 3, _); 00022 Tmoment = (MOI.inverse() * (Tmoment - skew(w_BI) * (MOI * w_BI))); 00023 Vector temp(3); 00024 temp(_) = Tmoment(_,MatrixIndexBase); 00025 return temp; 00026 } 00027 00028 #endif 00029 // Do not change the comments below - they will be added automatically by CVS 00030 /***************************************************************************** 00031 * $Log: QuaternionDynamics.h,v $ 00032 * Revision 1.3 2003/04/23 16:30:58 nilspace 00033 * Various bugfixes & uploading of all changed code for new programmers. 00034 * 00035 * Revision 1.2 2003/03/27 02:51:08 nilspace 00036 * Fixed to prevent incorrect vector indexing. 00037 * 00038 * Revision 1.1 2003/03/25 02:29:56 nilspace 00039 * initial submission. Needs to be verified. 00040 * 00041 ******************************************************************************/
1.3