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)

Authors

CNES - DCT/SB

See also

CL_rot_defQuat, CL_rot_matrix2quat

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)