Name
CL_rot_angularVelocity — Rotation angles to velocity and acceleration vectors
Calling Sequence
[om,omp] = CL_rot_angularVelocity(axes,angles,angles_der,angles_der2)
Description
-
Defines the vectors "speed, rotation acceleration" from the table
angles, which contains Euler angles and its derivatives. axes specifies rotations to compute.
- Last update : 23/11/2009
Parameters
- axes:
vecteur with rotations order (1xN, Nmax = 3 ).
- angles:
Euler angles (3xN) [rad]
- angles_der:
angles first derivatives (3xN) [rad/s]
- angles_der2:
angles second derivatives (3xN) [rad/s^2]
- om:
speed vector (3xN)
- omp:
acceleration vector (3xN)
Examples
axes = [1,2,3];
angles = [%pi/4 ; %pi/8 ; %pi/6]
angles_der = [%pi/4 ; %pi/8 ; %pi/6]
angles_der2 = [%pi/4 ; %pi/8 ; %pi/6]
[om,omp] = CL_rot_angularVelocity(axes,angles,angles_der,angles_der2)