QuaternionDynamics.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file QuaternionDynamics.h
*  \brief Rigid body dynamic equations of attitude motion in quaternion form.
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.2 $
*  \date    $Date: 2005/06/10 12:53:28 $
//////////////////////////////////////////////////////////////////////////////////////////////////
* \todo document the QuaternionDynamics function
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#ifndef QUATERNIONDYNAMICS_H
#define QUATERNIONDYNAMICS_H
#include <rotation/Rotation.h>

static Vector QuaternionDynamics(const double &_time, const Vector &w_BI, const Matrix &_params)
{
    Matrix MOI(3,3); 
    MOI = _params(_(MatrixIndexBase+0,MatrixIndexBase+2),_(MatrixIndexBase+0,MatrixIndexBase+2));
    Matrix Tmoment(3,1); 
    Tmoment = ~_params(MatrixIndexBase + 3, _);
    Tmoment = (MOI.inverse() * (Tmoment - skew(w_BI) * (MOI * w_BI)));
    Vector temp(3); 
    temp(_) = Tmoment(_,MatrixIndexBase);
    return temp;
}

#endif
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: QuaternionDynamics.h,v $
*       Revision 1.2  2005/06/10 12:53:28  jayhawk_hokie
*       Changed header file format to make it easier to link to the spacecraft code by only having to specify dsacss/dep/spacecraft/src (ex. "file.h" changed to <dir/file.h> where dir is a folder in src).
*       
*       Revision 1.1.1.1  2005/04/26 17:40:56  cakinli
*       Adding OpenSESSAME to DSACSS distrib to capture fixed version.
*       
*       Revision 1.3  2003/04/23 16:30:58  nilspace
*       Various bugfixes & uploading of all changed code for new programmers.
*       
*       Revision 1.2  2003/03/27 02:51:08  nilspace
*       Fixed to prevent incorrect vector indexing.
*       
*       Revision 1.1  2003/03/25 02:29:56  nilspace
*       initial submission. Needs to be verified.
*
******************************************************************************/

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