CL_rot_pvConvert

Description

• Computes position and velocity relative to frame2 given position and velocity relative to frame1:

  pos2 = M * pos1

  vel2 = M * (vel1 - omega ^ pos1)

  The velocity is computed if cvel == %t and omega is not empty.

  The jacobian is computed if cjac == %t and omega is not empty.

  jacob = d(pos2,vel2)/d(pos1,vel1), more precisely jacob(i,j,:) = d(pv2(i,:)/d(pv1(j,:))

Parameters

pos1:

Position vector relative to frame1 (with coordinates given in frame1) (3xN)

vel1:

Velocity vector relative to frame1 (with coordinates given in frame1) (3xN or empty)

M:

Transformation matrix from frame1 to frame2 (pos2 = M * pos1) (3x3xN)

omega:

(optional) Angular velocity vector of frame2 wrt frame1 with coordinates in frame1 (3xN). Empty by default.

cvel:

(boolean, optional) %t if velocity should be computed (1x1). Default is %t.

cjac:

(boolean, optional) %t if jacobian should be computed (1x1). Default is %t.

pos2:

Position vector relative to frame2 (with coordinates given in frame2) (3xN)

vel2:

Velocity vector relative to frame2 (with coordinates given in frame2) (3xN)

jacob:

(optional) Jacobian of the transformation (pos1,vel1) to (pos2,vel2) (6x6xN)

Authors

• CNES - DCT/SB

Examples

M = CL_rot_angles2matrix(3, %pi/2) omega = [0; 0; 2*%pi/86400]; pos1 = [7000.e3;0;0]; vel1 = [0; 7000; 0]; [pos2,vel2,jacob] = CL_rot_pvConvert(pos1,vel1,M,omega)