dynkin::rigidbody namespace

rigidbodynamespace

Contents

Classes

struct RigidBody
Representing an ideal rigid body.

Functions

auto skew(const Eigen::Vector3d& v) -> Eigen::Matrix3d
Create a skew matrix (3x3) from a (3x1) vector.
auto motion_transformation_matrix(const Eigen::Vector3d& position) -> Eigen::Matrix6d
Create a Motion Transformation Matrix (6x6)
auto generalized_inertia_matrix(const double& mass, const Eigen::Vector3d& gyradii) -> Eigen::Matrix6d
Create Generalized Inertia Matrix (6x6)
auto eulerian(const Eigen::Vector3d& attitude) -> Eigen::Matrix3d
Create an Eulerian Matrix (3x3) relating angular velocity to euler angle derivatives.
auto angular_velocity_to_deuler(const Eigen::Vector3d& attitude, const Eigen::Vector3d& angular_velocity) -> Eigen::Vector3d
Convert angular velocities to euler angle derivatives.

Function documentation

Eigen::Matrix3d dynkin::rigidbody::skew(const Eigen::Vector3d& v)
#include <dynkin/dynkin.hpp>

Create a skew matrix (3x3) from a (3x1) vector.

Parameters
v Vector to create skew matrix from
Returns Skew matrix

Eigen::Matrix6d dynkin::rigidbody::motion_transformation_matrix(const Eigen::Vector3d& position)
#include <dynkin/dynkin.hpp>

Create a Motion Transformation Matrix (6x6)

Parameters
position Position vector defining the transformation
Returns Motion Transformation Matrix

Eigen::Matrix6d dynkin::rigidbody::generalized_inertia_matrix(const double& mass, const Eigen::Vector3d& gyradii)
#include <dynkin/dynkin.hpp>

Create Generalized Inertia Matrix (6x6)

Parameters
mass Rigid body mass
gyradii Rigid body gyradii (3x1)
Returns Generalized Inertia Matrix (6x6)

Eigen::Matrix3d dynkin::rigidbody::eulerian(const Eigen::Vector3d& attitude)
#include <dynkin/dynkin.hpp>

Create an Eulerian Matrix (3x3) relating angular velocity to euler angle derivatives.

Parameters
attitude Attitude (3x1)
Returns Eulerian Matrix (3x3)

Eigen::Vector3d dynkin::rigidbody::angular_velocity_to_deuler(const Eigen::Vector3d& attitude, const Eigen::Vector3d& angular_velocity)
#include <dynkin/dynkin.hpp>

Convert angular velocities to euler angle derivatives.

Parameters
attitude Attitude of rigid body (3x1)
angular_velocity Angular velocity of rigid body (3x1)
Returns Euler angle derivatives of rigid body (3x1)