occ::mults::EulerJacobian Struct Reference

Jacobian relating Euler angle rates to angular velocity. More...

#include <torque.h>

Public Member Functions
	EulerJacobian (double alpha, double beta, double gamma)

Public Attributes
Mat3	J
Mat3	J_inv

Detailed Description

Jacobian relating Euler angle rates to angular velocity.

For ZYZ Euler angles (alpha, beta, gamma), the angular velocity in body frame is: omega_body = J(alpha, beta, gamma) * [dalpha/dt, dbeta/dt, dgamma/dt]^T

The Jacobian J is: [ sin(beta)*sin(gamma), cos(gamma), 0 ] [ sin(beta)*cos(gamma), -sin(gamma), 0 ] [ cos(beta), 0, 1 ]

Constructor & Destructor Documentation

EulerJacobian()

occ::mults::EulerJacobian::EulerJacobian	(	double	alpha,
		double	beta,
		double	gamma
	)

Member Data Documentation

J

Mat3 occ::mults::EulerJacobian::J

J_inv

Mat3 occ::mults::EulerJacobian::J_inv

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The documentation for this struct was generated from the following file:

• /home/runner/work/occ/occ/include/occ/mults/torque.h