CL_rot_angVelocity

Description

• Computes the angular velocity vector resulting from a combination of successive rotations.

  The rotation axes are defined by numbers: 1=x-axis, 2=y-axis, 3=z-axis.

• Important:

  Let's note:

  F1: the "initial" frame,

  F2: the image of F1 by the successive rotations,

  Then:

  the angular velocity vector as computed is omega(F2/F1), with coordinates given in F1.

• See Data types for more details on the definition of angular velocity vectors and frame transformation matrices.

Parameters

naxes :

Axes numbers: 1=x-axis, 2=y-axis or 3=z-axis (1xP or Px1)

angles :

Rotation angles around respective axes [rad] (PxN)

angles_der :

Time derivatives of angles [rad/s] (PxN)

omega :

Angular velocity vector (see above for definition) [rad/s] (3xN)

Authors

• CNES - DCT/SB

See also

• CL_rot_angles2matrix

Examples

// Example 1 naxes = [3,1,3]; // Euler angles angles = [%pi/4; %pi/8; %pi/6]; angles_der = [0.1; -0.2; 0.3]; omega = CL_rot_angVelocity(naxes,angles,angles_der); // Example 2 naxes = [1,3,1,3]; // XZXZ angles = [%pi/4; %pi/8; %pi/6; %pi/10]; angles_der = [0.1; -0.2; 0.3; 0.5]; omega = CL_rot_angVelocity(naxes,angles,angles_der);