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B_a2w_inv

PURPOSE ^

constructs the conversion matrix from differentiated Kardan angles to rotation rates

SYNOPSIS ^

function B = B_a2w_inv(Vector)

DESCRIPTION ^

constructs the conversion matrix from differentiated Kardan angles to rotation rates
Conversion of differentiated  Kardan angles to rotation rates: omega= B(alpha)* alpha_dot

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function B = B_a2w_inv(Vector)
0002 %constructs the conversion matrix from differentiated Kardan angles to rotation rates
0003 %Conversion of differentiated  Kardan angles to rotation rates: omega= B(alpha)* alpha_dot
0004 
0005 
0006 sizeV = size(Vector);
0007 if (sum(sizeV)==4 && ( ( sizeV(1)==1 && sizeV(2)==3 ) || ( sizeV(2)==1 && sizeV(1)==3 ) ) )
0008     alpha = Vector(1);
0009     beta = Vector(2);
0010     gamma = Vector(3);
0011     
0012     B = [ 1   sin(alpha)*tan(beta)    cos(alpha)*tan(beta) ;...
0013           0   cos(alpha)              -sin(alpha)          ;...
0014           0   sin(alpha)/cos(beta)    cos(alpha)/cos(beta) ];
0015  else
0016     str = 'the input vector for convertion is:';
0017     utils.helper.msg(utils.const.msg.MNAME, str);
0018     display(Vector);
0019     error('Vector for convertion is not a 3*1 nor a 1*3 matrix (see line above)!');
0020 end
0021 end

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