CL_rot_pvJacobian

Description

• Computes the jacobian of the transformation (pos1,vel1) to (pos2,vel2):

  pos2 = M * pos1

  vel2 = M * (vel1 - omega ^ pos1)

  jacob = d(pv2)/d(pv1), more precisely jacob(i,j,:) = d(pv2(i,:)/d(pv1(j,:))

Parameters

M:

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

omega:

Angular velocity vector of frame2 wrt frame1 with coordinates in frame1 (3xN)

jacob:

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]; [jacob] = CL_rot_pvJacobian(M, omega)