Examples
naxes = [1,2,3]; // XYZ 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(naxes,angles,angles_der,angles_der2) |  |  |
Rotation angles to angular velocity and acceleration vectors - DEPRECATED
[om,omp] = CL_rot_angularVelocity(naxes,angles,angles_der,angles_der2)
This function is deprecated.
Replacement function: CL_rot_angVelocity
Computes the angular rotation and acceleration vectors resulting from a combination of 3 rotations.
The rotation axes are defined by numbers: 1=x-axis, 2=y-axis, 3=z-axis.
If: F1 = initial frame, F2 = final frame (= image of F1 by the successive rotations given by (naxes, angles)), then the angular velocity vector as computed is omega(F2/F1) with coordinates in F2.
Axes numbers: 1=x-axis, 2=y-axis or 3=z-axis (1x3 or 3x1)
Rotation angles around respective axes [rad] (3xN)
First derivatives of angles with respect to time [rad/s] (3xN)
Second derivatives of angles with respect to time [rad/s^2] (3xN)
Angular rotation vector (3xN)
Angular acceleration vector (3xN)
CNES - DCT/SB
naxes = [1,2,3]; // XYZ 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(naxes,angles,angles_der,angles_der2) | | |