CL_rot_compose

Description

• This function computes the matrix and angular velocity vector resulting from several successive frame transformations.

  For each elementary transformation, 3 entries are expected :

  - Mk: Frame transformation matrix (framei to framej).

  - omegak: Angular velocity vector (framej / framei with coordinates in framei.

  - dirk: Direction of the kth transformation: 1=same direction as for the combined transformation; -1=opposite direction

Parameters

M1,M2,...Mn:

Frame transformation matrices (3x3xN or 3x3)

omega1,omega2,...omegan:

Angular velocity vectors [rad/s] (3xN or 3x1)

dir1,dir2,...dirn:

Directions of the transformations (1x1)

M:

Resulting transformation matrix (3x3xN)

omega:

Resulting angular velocity vector [rad/s] (3xN)

Authors

• CNES - DCT/SB

See also

• CL_rot_pvConvert

Examples

// Composition of two transformations: // We know: frameA -> frameB // M1 is such that: X_relative_to_frameB = M1*(X_relative_to_frameA) // om1 = omega(frameB/frameA) with coordinates in frameA M1 = CL_rot_angles2matrix(3, %pi/2) om1 = [0;0;0.01]; // We know: frameC -> frameB // M2 is such that: X_relative_to_frameB = M2*(X_relative_to_frameC) // om2 = omega(frameB/frameC) with coordinates in frameC M2 = CL_rot_angles2matrix(2, %pi/2) om2 = [0;0.01;0]; // We compute: frameA -> frameC <=> frameA -> frameB -> frameC // M is such that: X_relative_to_frameC = M*(X_relative_to_frameA) // omega = omega(frameC/frameA) with coordinates in frameA [M,omega] = CL_rot_compose(M1,om1,1, M2,om2,-1);