QuaternionKinematics.h

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////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file QuaternionKinematics.h
*  \brief Rigid body kinematic 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 QuaternionKinematics class
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

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

static Vector QuaternionKinematics(const double &_time, const Vector &_qIn, const Matrix &_wIn)
{
    Matrix qtemp(4,3); 
    qtemp(_(VectorIndexBase+0,VectorIndexBase+2),_(VectorIndexBase+0,VectorIndexBase+2)) = skew(_qIn(_(VectorIndexBase+0,VectorIndexBase+2))) + _qIn(VectorIndexBase+3) * eye(3);
    qtemp(VectorIndexBase+3, _(VectorIndexBase+0,VectorIndexBase+2)) = -(~_qIn(_(VectorIndexBase+0,VectorIndexBase+2)));

    qtemp.initialize(0.5 * qtemp * _wIn);
    Vector qDot(QUATERNION_SIZE);qDot(_) = qtemp(_,MatrixIndexBase);
    return (Vector)qDot;
}

#endif
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: QuaternionKinematics.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 1.2  2003/04/23 16:30:58  nilspace
*       Various bugfixes & uploading of all changed code for new programmers.
*       
*       Revision 1.1  2003/03/25 02:28:20  nilspace
*       initial submission. Needs to be verified.
*
******************************************************************************/

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