Class Kinematics
- Namespace
- NominalSystems.Maths
- Assembly
- NominalSystems.Maths.dll
This class defines functions for mathematical calculations regarding rigid bodies
public static class Kinematics- Inheritance
-
Kinematics
Methods
AddEuler(Vector3, Vector3)
Computes the overall (X-Y-Z) Euler angle vector corresponding to two successive
(X-Y-Z) rotations E1 and E2.
Only works for Euler angles of: (1-2-1), (1-3-1), (2-1-2), (2-3-2), (3-1-3), (3-2-3)
public static Vector3 AddEuler(Vector3 e1, Vector3 e2)Parameters
Returns
AddEuler121(Vector3, Vector3)
Computes the overall (1-2-1) Euler angle vector corresponding to two successive (1-2-1) rotations E1 and E2.
public static Vector3 AddEuler121(Vector3 e1, Vector3 e2)Parameters
Returns
- Vector3
The rotated Euler
AddEuler123(Vector3, Vector3)
Computes the overall (1-2-3) Euler angle vector corresponding to two successive (1-2-3) rotations E1 and E2.
public static Vector3 AddEuler123(Vector3 e1, Vector3 e2)Parameters
Returns
AddEuler131(Vector3, Vector3)
Computes the overall (1-3-1) Euler angle vector corresponding to two successive (1-3-1) rotations E1 and E2.
public static Vector3 AddEuler131(Vector3 e1, Vector3 e2)Parameters
Returns
- Vector3
The rotated Euler
AddEuler132(Vector3, Vector3)
Computes the overall (1-3-2) Euler angle vector corresponding to two successive (1-3-2) rotations E1 and E2.
public static Vector3 AddEuler132(Vector3 e1, Vector3 e2)Parameters
Returns
AddEuler212(Vector3, Vector3)
Computes the overall (2-1-2) Euler angle vector corresponding to two successive (2-1-2) rotations E1 and E2.
public static Vector3 AddEuler212(Vector3 e1, Vector3 e2)Parameters
Returns
- Vector3
The rotated Euler
AddEuler213(Vector3, Vector3)
Computes the overall (2-1-3) Euler angle vector corresponding to two successive (2-1-3) rotations E1 and E2.
public static Vector3 AddEuler213(Vector3 e1, Vector3 e2)Parameters
Returns
AddEuler231(Vector3, Vector3)
Computes the overall (2-3-1) Euler angle vector corresponding to two successive (2-3-1) rotations E1 and E2.
public static Vector3 AddEuler231(Vector3 e1, Vector3 e2)Parameters
Returns
AddEuler232(Vector3, Vector3)
Computes the overall (2-3-2) Euler angle vector corresponding to two successive (2-3-2) rotations E1 and E2.
public static Vector3 AddEuler232(Vector3 e1, Vector3 e2)Parameters
Returns
- Vector3
The rotated Euler
AddEuler312(Vector3, Vector3)
Computes the overall (3-1-2) Euler angle vector corresponding to two successive (3-1-2) rotations E1 and E2.
public static Vector3 AddEuler312(Vector3 e1, Vector3 e2)Parameters
Returns
AddEuler313(Vector3, Vector3)
Computes the overall (3-1-3) Euler angle vector corresponding to two successive (3-1-3) rotations E1 and E2.
public static Vector3 AddEuler313(Vector3 e1, Vector3 e2)Parameters
Returns
- Vector3
The rotated Euler
AddEuler321(Vector3, Vector3)
Computes the overall (3-2-1) Euler angle vector corresponding to two successive (3-2-1) rotations E1 and E2.
public static Vector3 AddEuler321(Vector3 e1, Vector3 e2)Parameters
Returns
AddEuler323(Vector3, Vector3)
Computes the overall (3-2-3) Euler angle vector corresponding to two successive (3-2-3) rotations E1 and E2.
public static Vector3 AddEuler323(Vector3 e1, Vector3 e2)Parameters
Returns
- Vector3
The rotated Euler
AddGibbs(Vector3, Vector3)
Provides the Gibbs vector which corresponds to performing two successive rotations Q1 and Q2 of the corrdinate frame.
public static Vector3 AddGibbs(Vector3 q1, Vector3 q2)Parameters
Returns
AddMRP(Vector3, Vector3)
Provides the MRP vector which corresponds to performing two successive rotations Q1 and Q2 of the coordinate frame.
public static Vector3 AddMRP(Vector3 q1, Vector3 q2)Parameters
Returns
- Vector3
The output MRP vector between two rotations
AddPRV(Vector3, Vector3)
Provides the principal rotation vector which corresponds to performing two successive principal rotations Q1 and Q2 of the coordinate frame.
public static Vector3 AddPRV(Vector3 qq1, Vector3 qq2)Parameters
Returns
AddQuat(NsQuat, NsQuat)
Provides the Euler parameter vector (Quaternion) which corresponds to performing two successive rotations B1 and B2 of the coordinate frame.
public static NsQuat AddQuat(NsQuat b1, NsQuat b2)Parameters
Returns
- NsQuat
The rotated Quaternion
Ang2MRP(double, double, double)
Converts pitch,roll and yaw angles from degrees to MRP
public static Vector3 Ang2MRP(double pitch, double roll, double yaw)Parameters
Returns
BInvEuler121(Vector3)
Returns the 3x3 matrix which relates the derivative of the (1-2-1)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler121(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvEuler123(Vector3)
Returns the 3x3 matrix which relates the derivative of the (1-2-3)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler123(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvEuler131(Vector3)
Returns the 3x3 matrix which relates the derivative of the (1-3-1)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler131(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvEuler132(Vector3)
Returns the 3x3 matrix which relates the derivative of the (1-3-2)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler132(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvEuler212(Vector3)
Returns the 3x3 matrix which relates the derivative of the (2-1-2)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler212(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvEuler213(Vector3)
Returns the 3x3 matrix which relates the derivative of the (2-1-3)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler213(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvEuler231(Vector3)
Returns the 3x3 matrix which relates the derivative of the (2-3-1)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler231(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvEuler232(Vector3)
Returns the 3x3 matrix which relates the derivative of the (2-3-2)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler232(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvEuler312(Vector3)
Returns the 3x3 matrix which relates the derivative of the (3-`-1)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler312(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvEuler313(Vector3)
Returns the 3x3 matrix which relates the derivative of the (3-1-3)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler313(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvEuler321(Vector3)
Returns the 3x3 matrix which relates the derivative of the (3-2-1)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler321(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvEuler323(Vector3)
Returns the 3x3 matrix which relates the derivative of the (3-2-3)
Euler angle vector Q to the body angular velocity vector w.
w = [B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvEuler323(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvGibbs(Vector3)
Returns the 3x3 matrix which relates the derivative of Gibbs vector Q to the body angular velocity vector w.
w = 2[B(Q)] ^ (-1) dQ/dt
public static Matrix3 BInvGibbs(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BInvMRP(Vector3)
Returns the 3x3 matrix which relates the derivative of MRP vector Q to the body angular velocity vector w.
w = 4 [B(Q)]^(-1) dQ/dt
public static Matrix3 BInvMRP(Vector3 q)Parameters
qVector3Input MRP vector
Returns
- Matrix3
3x3 Matrix
BInvPRV(Vector3)
Returns the 3x3 matrix which relates the derivative of Principal Rotation vector Q to the body angular velocity vector w.
w = [B(Q)]^(-1) dQ/dt
public static Matrix3 BInvPRV(Vector3 q)Parameters
qVector3Input Principal Rotation Vector
Returns
- Matrix3
3x3 Matrix
BInvQuat(NsQuat)
Returns the 3x4 matrix which relates the derivative of Euler parameter vector Q to the body angular velocity vector w.
public static Matrix BInvQuat(NsQuat q)Parameters
qNsQuatInput Euler Parameter (Quaternion)
Returns
- Matrix
3x4 Matrix
BMatEuler121(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (1-2-1)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler121(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatEuler123(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (1-2-3)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler123(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatEuler131(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (1-3-1)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler131(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatEuler132(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (1-3-2)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler132(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatEuler212(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (2-1-2)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler212(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatEuler213(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (2-1-3)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler213(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatEuler231(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (2-3-1)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler231(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatEuler232(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (2-3-2)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler232(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatEuler312(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (3-1-2)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler312(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatEuler313(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (3-1-3)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler313(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatEuler321(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (3-2-1)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler321(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatEuler323(Vector3)
Returns the 3x3 matrix which relates the derivative of the
body angular velocity vector w to the derivative of (3-2-3)
Euler angle vector Q.
w = dQ/dt = [B(Q)] w
public static Matrix3 BMatEuler323(Vector3 q)Parameters
qVector3Input Euler Angle Vector
Returns
- Matrix3
3x3 Matrix
BMatGibbs(Vector3)
Returns the 3x3 matrix which relates the body angular velocity vector w
to the derivative of Gibbs vector Q.
dQ/dt = 1 / 2[B(Q)] w
public static Matrix3 BMatGibbs(Vector3 q)Parameters
qVector3Input Gibbs vector
Returns
- Matrix3
3x3 matrix
BMatMRP(Vector3)
Returns the 3x3 matrix which relates the body angular velocity vector w
to the derivative of MRP vector Q.
dQ/dt = 1/4 [B(Q)] w
public static Matrix3 BMatMRP(Vector3 q)Parameters
qVector3Input MRP vector
Returns
- Matrix3
3x3 matrix
BMatPRV(Vector3)
Returns the 3x3 matrix which relates the body angular velocity vector w
to the derivative of principal rotation vector Q.
dQ/dt = [B(Q)] w
public static Matrix3 BMatPRV(Vector3 q)Parameters
qVector3Input Principal Rotation Vector
Returns
- Matrix3
3x3 matrix
BMatQuat(NsQuat)
Returns the 4x3 matrix which relates the body angular velocity vector w to the derivative of Euler parameter vector Q.
dQ/dt = 1 / 2[B(Q)] w
public static Matrix BMatQuat(NsQuat q)Parameters
qNsQuatInput Euler Parameter (Quaternion)
Returns
- Matrix
4x3 matrix
DCM2EULER(Matrix3)
Converts the directional Cosine Matrix to Euler Angles
public static Vector3 DCM2EULER(Matrix3 DCM)Parameters
DCMMatrix3
Returns
DCM2Euler121(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(1-2-1) Euler angle set.
public static Vector3 DCM2Euler121(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Euler123(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(1-2-3) Euler angle set.
public static Vector3 DCM2Euler123(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Euler131(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(1-3-1) Euler angle set.
public static Vector3 DCM2Euler131(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Euler132(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(1-3-2) Euler angle set.
public static Vector3 DCM2Euler132(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Euler212(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(2-1-2) Euler angle set.
public static Vector3 DCM2Euler212(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Euler213(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(2-1-3) Euler angle set.
public static Vector3 DCM2Euler213(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Euler231(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(2-3-1) Euler angle set.
public static Vector3 DCM2Euler231(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Euler232(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(2-3-2) Euler angle set.
public static Vector3 DCM2Euler232(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Euler312(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(3-1-2) Euler angle set.
public static Vector3 DCM2Euler312(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Euler313(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(3-1-3) Euler angle set.
public static Vector3 DCM2Euler313(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Euler321(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(3-2-1) Euler angle set.
public static Vector3 DCM2Euler321(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Euler323(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding(3-2-3) Euler angle set.
public static Vector3 DCM2Euler323(Matrix3 DCM)Parameters
DCMMatrix3Input Direction cosine matrix
Returns
DCM2Gibbs(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding 3x1 Gibbs vector Q.
public static Vector3 DCM2Gibbs(Matrix3 DCM)Parameters
DCMMatrix3Input cosine matrix
Returns
DCM2MRP(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding 3x1 MRP vector Q where the MRP vector is chosen such that |Q| <= 1.
public static Vector3 DCM2MRP(Matrix3 DCM)Parameters
DCMMatrix3The input matrix
Returns
DCM2PRV(Matrix3)
Translates the 3x3 direction cosine matrix DCM into the corresponding 3x1 principal rotation vector Q, where the first component of Q is the principal rotation angle phi(0<= phi <= Pi)
public static Vector3 DCM2PRV(Matrix3 DCM)Parameters
DCMMatrix3The Input Matrix
Returns
- Vector3
The Principle Rotation vector
DCM2Quat(Matrix3)
DCM2Quat Q = DCM2Quat(C) translates the 3x3 direction cosine matrix C into the corresponding 4x1 euler parameter vector Q, where the first component of Q is the non-dimensional Euler parameter Beta_0 >= 0. Transformation is done using the Stanley method.
public static NsQuat DCM2Quat(Matrix3 dcm)Parameters
dcmMatrix3The DCM directional cosine matrix
Returns
- NsQuat
The Quaternion (Vector4) result
Elem2PRV(NsQuat)
Translates a principal rotation element set R into the corresponding principal rotation vector Q.
public static Vector3 Elem2PRV(NsQuat r)Parameters
rNsQuatPrincipal rotation element set
Returns
Euler1(double)
Creates an elementary rotation matrix
public static Matrix3 Euler1(double x)Parameters
xdoubleThe body axis position
Returns
- Matrix3
Returns the elementary rotation matrix about the second body axis.
Euler1212DCM(Vector3)
Returns the direction cosine matrix in terms of the 1-2-1 Euler angles. Input Q must be a 3x1 vector of Euler angles.
public static Matrix3 Euler1212DCM(Vector3 q)Parameters
qVector3Input Euler angle
Returns
Euler1212Gibbs(Vector3)
Translates the (1-2-1) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler1212Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1212MRP(Vector3)
Translates the (1-2-1) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler1212MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1212PRV(Vector3)
Translates the (1-2-1) Euler angle vector E into the principal rotation vector vector Q.
public static Vector3 Euler1212PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1212Quat(Vector3)
Translates the 1-2-1 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler1212Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1232DCM(Vector3)
Returns the direction cosine matrix in terms of the 1-2-3 Euler angles. Input Q must be a 3x1 vector of Euler angles.
public static Matrix3 Euler1232DCM(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler1232Gibbs(Vector3)
Translates the (1-2-3) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler1232Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1232MRP(Vector3)
Translates the (1-2-3) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler1232MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1232PRV(Vector3)
Translates the (1-2-3) Euler angle vector E into the principal rotation vector vector Q.
public static Vector3 Euler1232PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1232Quat(Vector3)
Translates the 1-2-3 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler1232Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1312DCM(Vector3)
Returns the direction cosine matrix in terms of the 1-3-1 Euler angles. Input Q must be a 3x1 vector of Euler angles.
public static Matrix3 Euler1312DCM(Vector3 q)Parameters
qVector3Input Euler angle
Returns
Euler1312Gibbs(Vector3)
Translates the (1-3-1) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler1312Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1312MRP(Vector3)
Translates the (1-3-1) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler1312MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1312PRV(Vector3)
Translates the (1-3-1) Euler angle vector E into the principal rotation vector vector Q.
public static Vector3 Euler1312PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1312Quat(Vector3)
Translates the 1-3-1 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler1312Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1322DCM(Vector3)
Returns the direction cosine matrix in terms of the 1-3-2 Euler angles. Input Q must be a 3x1 vector of Euler angles.
public static Matrix3 Euler1322DCM(Vector3 q)Parameters
qVector3Input Euler angle
Returns
Euler1322Gibbs(Vector3)
Translates the (1-3-2) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler1322Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1322MRP(Vector3)
Translates the (1-3-2) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler1322MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1322PRV(Vector3)
Translates the (1-3-2) Euler angle vector E into the principal rotation vector vector Q.
public static Vector3 Euler1322PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler1322Quat(Vector3)
Translates the 1-3-2 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler1322Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2(double)
Creates an elementary rotation matrix
public static Matrix3 Euler2(double x)Parameters
xdoubleThe body axis position
Returns
- Matrix3
Returns the elementary rotation matrix about the second body axis.
Euler2122DCM(Vector3)
Returns the direction cosine matrix in terms of the 2-1-2 Euler angles. Input Q must be a 3x1 vector of Euler angles.
public static Matrix3 Euler2122DCM(Vector3 q)Parameters
qVector3Input Euler angle
Returns
Euler2122Gibbs(Vector3)
Translates the (2-1-2) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2122Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2122MRP(Vector3)
Translates the (2-1-2) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2122MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2122PRV(Vector3)
Translates the (2-1-2) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2122PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2122Quat(Vector3)
Translates the 2-1-2 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler2122Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2132DCM(Vector3)
Returns the direction cosine matrix in terms of the 2-1-3 Euler angles. Input Q must be a 3x1 vector of Euler angles.
public static Matrix3 Euler2132DCM(Vector3 q)Parameters
qVector3Input Euler angle
Returns
Euler2132Gibbs(Vector3)
Translates the (2-1-3) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2132Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2132MRP(Vector3)
Translates the (2-1-3) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2132MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2132PRV(Vector3)
Translates the (2-1-3) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2132PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2132Quat(Vector3)
Translates the 2-1-3 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler2132Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2312DCM(Vector3)
Returns the direction cosine matrix in terms of the 2-3-1 Euler angles. Input Q must be a 3x1 vector of Euler angles.
public static Matrix3 Euler2312DCM(Vector3 q)Parameters
qVector3Input Euler angle
Returns
Euler2312Gibbs(Vector3)
Translates the (2-3-1) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2312Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2312MRP(Vector3)
Translates the (2-3-1) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2312MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2312PRV(Vector3)
Translates the (2-3-1) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2312PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2312Quat(Vector3)
Translates the 2-3-1 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler2312Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2322DCM(Vector3)
Returns the direction cosine matrix in terms of the 2-3-2 Euler angles. Input Q must be a 3x1 vector of Euler angles.
public static Matrix3 Euler2322DCM(Vector3 q)Parameters
qVector3Input Euler angle
Returns
Euler2322Gibbs(Vector3)
Translates the (2-3-2) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2322Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2322MRP(Vector3)
Translates the (2-3-2) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2322MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2322PRV(Vector3)
Translates the (2-3-2) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2322PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler2322Quat(Vector3)
Translates the 2-3-2 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler2322Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3(double)
Creates an elementary rotation matrix
public static Matrix3 Euler3(double x)Parameters
xdoubleThe body axis position
Returns
- Matrix3
Returns the elementary rotation matrix about the third body axis.
Euler3122DCM(Vector3)
Returns the direction cosine matrix in terms of the 3-1-2 Euler angles. Input Q must be a 3x1 vector of Euler angles.
public static Matrix3 Euler3122DCM(Vector3 q)Parameters
qVector3Input Euler angle
Returns
Euler3122Gibbs(Vector3)
Translates the (3-1-2) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler3122Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3122MRP(Vector3)
Translates the (3-1-2) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler3122MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3122PRV(Vector3)
Translates the (3-1-2) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler3122PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3122Quat(Vector3)
Translates the 3-1-2 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler3122Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3132DCM(Vector3)
Returns the direction cosine matrix in terms of the 3-1-3 Euler angles. Input Q must be a 3x1 vector of Euler angles.
public static Matrix3 Euler3132DCM(Vector3 q)Parameters
qVector3Input Euler angle
Returns
Euler3132Gibbs(Vector3)
Translates the (3-1-3) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler3132Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3132MRP(Vector3)
Translates the (3-1-3) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler3132MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3132PRV(Vector3)
Translates the (3-1-3) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler3132PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3132Quat(Vector3)
Translates the 3-1-3 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler3132Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3212DCM(Vector3)
returns the direction cosine matrix in terms of the 3-2-1 euler angles. Input Q must be a 3x1 vector of euler angles.
public static Matrix3 Euler3212DCM(Vector3 q)Parameters
qVector3The input Euler angles
Returns
- Matrix3
The direction cosine matrix
Euler3212DCM(double, double, double)
Returns the direction cosine matrix in terms of the 3-2-1 euler angles. Input Q must be a 3x1 vector of euler angles.
public static Matrix3 Euler3212DCM(double yaw, double pitch, double roll)Parameters
Returns
- Matrix3
The direction cosine matrix
Euler3212Gibbs(Vector3)
Translates the (3-2-1) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler3212Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3212MRP(Vector3)
Translates the (3-2-1) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler3212MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3212PRV(Vector3)
Translates the (3-2-1) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler3212PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3212Quat(Vector3)
Translates the 3-2-1 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler3212Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3232DCM(Vector3)
Returns the direction cosine matrix in terms of the 3-2-3 Euler angles. Input Q must be a 3x1 vector of Euler angles.
public static Matrix3 Euler3232DCM(Vector3 q)Parameters
qVector3Input Euler angle
Returns
Euler3232Gibbs(Vector3)
Translates the (3-2-3) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler3232Gibbs(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3232MRP(Vector3)
Translates the (3-2-3) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler3232MRP(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3232PRV(Vector3)
Translates the (3-2-3) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler3232PRV(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Euler3232Quat(Vector3)
Translates the 3-2-3 Euler angle vector E into the Euler parameter vector Q.
public static NsQuat Euler3232Quat(Vector3 e)Parameters
eVector3Input Euler angle
Returns
Gibbs2DCM(Vector3)
Returns the direction cosine matrix in terms of the 3x1 Gibbs vector Q.
public static Matrix3 Gibbs2DCM(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler121(Vector3)
Translates the Gibbs vector Q into the (1-2-1) Euler angle vector E.
public static Vector3 Gibbs2Euler121(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler123(Vector3)
Translates the Gibbs vector Q into the (1-2-3) Euler angle vector E.
public static Vector3 Gibbs2Euler123(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler131(Vector3)
Translates the Gibbs vector Q into the (1-3-1) Euler angle vector E.
public static Vector3 Gibbs2Euler131(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler132(Vector3)
Translates the Gibbs vector Q into the (1-3-2) Euler angle vector E.
public static Vector3 Gibbs2Euler132(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler212(Vector3)
Translates the Gibbs vector Q into the (2-1-2) Euler angle vector E.
public static Vector3 Gibbs2Euler212(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler213(Vector3)
Translates the Gibbs vector Q into the (2-1-3) Euler angle vector E.
public static Vector3 Gibbs2Euler213(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler231(Vector3)
Translates the Gibbs vector Q into the (2-3-1) Euler angle vector E.
public static Vector3 Gibbs2Euler231(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler232(Vector3)
Translates the Gibbs vector Q into the (2-3-2) Euler angle vector E.
public static Vector3 Gibbs2Euler232(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler312(Vector3)
Translates the Gibbs vector Q into the (3-1-2) Euler angle vector E.
public static Vector3 Gibbs2Euler312(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler313(Vector3)
Translates the Gibbs vector Q into the (3-1-3) Euler angle vector E.
public static Vector3 Gibbs2Euler313(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler321(Vector3)
Translates the Gibbs vector Q into the (3-2-1) Euler angle vector E.
public static Vector3 Gibbs2Euler321(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2Euler323(Vector3)
Translates the Gibbs vector Q into the (3-2-3) Euler angle vector E.
public static Vector3 Gibbs2Euler323(Vector3 q)Parameters
qVector3Gibbs vector
Returns
Gibbs2MRP(Vector3)
translates the Gibbs vector Q1 into the MRP vector Q.
public static Vector3 Gibbs2MRP(Vector3 q1)Parameters
q1Vector3Input Gibbs vector
Returns
Gibbs2PRV(Vector3)
Translates the Gibbs vector Q1 into the principal rotation vector Q.
public static Vector3 Gibbs2PRV(Vector3 q1)Parameters
q1Vector3Input Gibbs vector
Returns
Gibbs2Quat(Vector3)
Translates the Gibbs vector Q1 into the Euler parameter vector Q.
public static NsQuat Gibbs2Quat(Vector3 q1)Parameters
q1Vector3The input gibbs vector
Returns
MRP2DCM(Vector3)
Translate the modified rodrigues parameters into the equivalent direction cosine matrix
public static Matrix3 MRP2DCM(Vector3 v)Parameters
vVector3[MRP] The MRP vector
Returns
MRP2Euler121(Vector3)
Translates the MRP vector Q into the (1-2-1) Euler angle vector E.
public static Vector3 MRP2Euler121(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2Euler123(Vector3)
Translates the MRP vector Q into the (1-2-3) Euler angle vector E.
public static Vector3 MRP2Euler123(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2Euler131(Vector3)
Translates the MRP vector Q into the (1-3-1) Euler angle vector E.
public static Vector3 MRP2Euler131(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2Euler132(Vector3)
Translates the MRP vector Q into the (1-3-2) Euler angle vector E.
public static Vector3 MRP2Euler132(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2Euler212(Vector3)
Translates the MRP vector Q into the (2-1-2) Euler angle vector E.
public static Vector3 MRP2Euler212(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2Euler213(Vector3)
Translates the MRP vector Q into the (2-1-3) Euler angle vector E.
public static Vector3 MRP2Euler213(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2Euler231(Vector3)
Translates the MRP vector Q into the (2-3-1) Euler angle vector E.
public static Vector3 MRP2Euler231(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2Euler232(Vector3)
Translates the MRP vector Q into the (2-3-2) Euler angle vector E.
public static Vector3 MRP2Euler232(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2Euler312(Vector3)
Translates the MRP vector Q into the (3-1-2) Euler angle vector E.
public static Vector3 MRP2Euler312(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2Euler313(Vector3)
Translates the MRP vector Q into the (3-1-3) Euler angle vector E.
public static Vector3 MRP2Euler313(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2Euler321(Vector3)
Translates the MRP vector Q into the (3-2-1) Euler angle vector E.
public static Vector3 MRP2Euler321(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2Euler323(Vector3)
Translates the MRP vector Q into the (3-2-3) Euler angle vector E.
public static Vector3 MRP2Euler323(Vector3 q)Parameters
qVector3Input MRP vector
Returns
MRP2EulerDeg(Vector3)
Converts an MRP to a general Euler angle
public static Vector3 MRP2EulerDeg(Vector3 mrp)Parameters
mrpVector3The MRP value
Returns
- Vector3
The Euler angles in degrees
MRP2Gibbs(Vector3)
Translates the MRP vector Q1 into the Gibbs vector Q.
public static Vector3 MRP2Gibbs(Vector3 q1)Parameters
q1Vector3Input MRP vector
Returns
MRP2PRV(Vector3)
Translates the MRP vector mrp into the principal rotation vector
public static Vector3 MRP2PRV(Vector3 MRP)Parameters
MRPVector3The MRP input
Returns
MRP2Quat(Vector3)
Translates the MRP vector Q1 into the Euler parameter vector q (i.e. a Quaternion).
public static NsQuat MRP2Quat(Vector3 q1)Parameters
q1Vector3The modified rodrigues parameters to be converted to a quaternion
Returns
MRP2Quat(double, double, double)
Translates the mrp components into a Quaternion
public static NsQuat MRP2Quat(double mrp0, double mrp1, double mrp2)Parameters
mrp0doubleThe first modified rodrigues parameter
mrp1doubleThe second modified rodrigues parameter
mrp2doubleThe third modified rodrigues parameter
Returns
MRPShadow(Vector3)
Forces a switch from the current MRP to its shadow set
public static Vector3 MRPShadow(Vector3 qin)Parameters
qinVector3Current MRP
Returns
MRPSwitch(Vector3, double)
MRPSwitch(Q,s2,s) checks to see if v3Norm(Q) is larger than s2. If yes, then the MRP vector Q is mapped to its shadow set.
public static Vector3 MRPSwitch(Vector3 q, double s2)Parameters
Returns
Mi(double, int)
Returns the rotation matrix corresponding to a single axis rotation about axis a by the angle theta
public static Matrix3 Mi(double theta, int a)Parameters
Returns
PRV2DCM(Vector3)
Returns the direction cosine matrix in terms of the 3x1 principal rotation vector
public static Matrix3 PRV2DCM(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Elem(Vector3)
PRV2elem(R,Q) translates a principal rotation vector R into the corresponding principal rotation element set Q.
public static NsQuat PRV2Elem(Vector3 r)Parameters
rVector3The vector to convert
Returns
PRV2Euler121(Vector3)
Translates the principal rotation vector Q into the (1-2-1) Euler angle vector E.
public static Vector3 PRV2Euler121(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Euler123(Vector3)
Translates the principal rotation vector Q into the (1-2-3) Euler angle vector E.
public static Vector3 PRV2Euler123(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Euler131(Vector3)
Translates the principal rotation vector Q into the (1-3-1) Euler angle vector E.
public static Vector3 PRV2Euler131(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Euler132(Vector3)
Translates the principal rotation vector Q into the (1-3-2) Euler angle vector E.
public static Vector3 PRV2Euler132(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Euler212(Vector3)
Translates the principal rotation vector Q into the (2-1-2) Euler angle vector E.
public static Vector3 PRV2Euler212(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Euler213(Vector3)
Translates the principal rotation vector Q into the (2-1-3) Euler angle vector E.
public static Vector3 PRV2Euler213(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Euler231(Vector3)
Translates the principal rotation vector Q into the (2-3-1) Euler angle vector E.
public static Vector3 PRV2Euler231(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Euler232(Vector3)
Translates the principal rotation vector Q into the (2-3-2) Euler angle vector E.
public static Vector3 PRV2Euler232(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Euler312(Vector3)
Translates the principal rotation vector Q into the (3-1-2) Euler angle vector E.
public static Vector3 PRV2Euler312(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Euler313(Vector3)
Translates the principal rotation vector Q into the (3-1-3) Euler angle vector E.
public static Vector3 PRV2Euler313(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Euler321(Vector3)
Translates the principal rotation vector Q into the (3-2-1) Euler angle vector E.
public static Vector3 PRV2Euler321(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Euler323(Vector3)
Translates the principal rotation vector Q into the (3-2-3) Euler angle vector E.
public static Vector3 PRV2Euler323(Vector3 q)Parameters
qVector3Input principal rotation vector
Returns
PRV2Gibbs(Vector3)
Translates the principal rotation vector q0 into the Gibbs vector Q.
public static Vector3 PRV2Gibbs(Vector3 q0)Parameters
q0Vector3Input principal rotation vector
Returns
PRV2MRP(Vector3)
PRV2MRP(Q) translates the principal rotation vector Q1 into the MRP vector Q.
public static Vector3 PRV2MRP(Vector3 q0)Parameters
q0Vector3The rotation vector
Returns
PRV2Quat(Vector3)
Translates the principal rotation vector Q1 into the Euler parameter vector Q.
public static NsQuat PRV2Quat(Vector3 q0)Parameters
q0Vector3Input principal rotation vector
Returns
Quat2DCM(NsQuat)
Returns the direction cosine matrix in terms of the 4x1 euler parameter vector Q. The first element is the non-dimensional euler parameter, while the remain three elements form the euler parameter vector.
public static Matrix3 Quat2DCM(NsQuat q)Parameters
qNsQuat
Returns
Quat2Euler121(NsQuat)
Translates the Euler parameter vector Q into the corresponding (1-2-1) Euler angle vector E.
public static Vector3 Quat2Euler121(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Euler123(NsQuat)
Translates the Euler parameter vector Q into the corresponding (1-2-3) Euler angle vector E.
public static Vector3 Quat2Euler123(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Euler131(NsQuat)
Translates the Euler parameter vector Q into the corresponding (1-3-1) Euler angle vector E.
public static Vector3 Quat2Euler131(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Euler132(NsQuat)
Translates the Euler parameter vector Q into the corresponding (1-3-2) Euler angle vector E.
public static Vector3 Quat2Euler132(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Euler212(NsQuat)
Translates the Euler parameter vector Q into the corresponding (2-1-2) Euler angle vector E.
public static Vector3 Quat2Euler212(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Euler213(NsQuat)
Translates the Euler parameter vector Q into the corresponding (2-1-3) Euler angle vector E.
public static Vector3 Quat2Euler213(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Euler231(NsQuat)
Translates the Euler parameter vector Q into the corresponding (2-3-1) Euler angle vector E.
public static Vector3 Quat2Euler231(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Euler232(NsQuat)
Translates the Euler parameter vector Q into the corresponding (2-3-2) Euler angle vector E.
public static Vector3 Quat2Euler232(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Euler312(NsQuat)
Translates the Euler parameter vector Q into the corresponding (3-1-2) Euler angle vector E.
public static Vector3 Quat2Euler312(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Euler313(NsQuat)
Translates the Euler parameter vector Q into the corresponding (3-1-3) Euler angle vector E.
public static Vector3 Quat2Euler313(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Euler321(NsQuat)
Translates the Euler parameter vector Q into the corresponding (3-2-1) Euler angle vector E.
public static Vector3 Quat2Euler321(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Euler323(NsQuat)
Translates the Euler parameter vector Q into the corresponding (3-2-3) Euler angle vector E.
public static Vector3 Quat2Euler323(NsQuat q)Parameters
qNsQuatInput Euler Parameter vector
Returns
Quat2Gibbs(NsQuat)
Translates the Euler parameter vector Q1 into the Gibbs vector Q.
public static Vector3 Quat2Gibbs(NsQuat q1)Parameters
q1NsQuatInput Euler parameter vector
Returns
Quat2MRP(NsQuat)
Translates the Euler parameter vector Q1 into the MRP vector Q.
public static Vector3 Quat2MRP(NsQuat q1)Parameters
q1NsQuatInput Euler parameter vector
Returns
Quat2PRV(NsQuat)
Translates the Euler parameter vector Q1 into the principal rotation vector Q.
public static Vector3 Quat2PRV(NsQuat q1)Parameters
q1NsQuatThe rotational quaternion
Returns
SubEuler121(Vector3, Vector3)
Computes the relative (1-2-1) Euler angle vector from E1 to E.
public static Vector3 SubEuler121(Vector3 e, Vector3 e1)Parameters
Returns
SubEuler123(Vector3, Vector3)
Computes the relative (1-2-3) Euler angle vector from E1 to E.
public static Vector3 SubEuler123(Vector3 e, Vector3 e1)Parameters
Returns
SubEuler131(Vector3, Vector3)
Computes the relative (1-3-1) Euler angle vector from E1 to E.
public static Vector3 SubEuler131(Vector3 e, Vector3 e1)Parameters
Returns
SubEuler132(Vector3, Vector3)
Computes the relative (1-3-2) Euler angle vector from E1 to E.
public static Vector3 SubEuler132(Vector3 e, Vector3 e1)Parameters
Returns
SubEuler212(Vector3, Vector3)
Computes the relative (2-1-2) Euler angle vector from E1 to E.
public static Vector3 SubEuler212(Vector3 e, Vector3 e1)Parameters
Returns
SubEuler213(Vector3, Vector3)
Computes the relative (2-1-3) Euler angle vector from E1 to E.
public static Vector3 SubEuler213(Vector3 e, Vector3 e1)Parameters
Returns
SubEuler231(Vector3, Vector3)
Computes the relative (2-3-1) Euler angle vector from E1 to E.
public static Vector3 SubEuler231(Vector3 e, Vector3 e1)Parameters
Returns
SubEuler232(Vector3, Vector3)
Computes the relative (2-3-2) Euler angle vector from E1 to E.
public static Vector3 SubEuler232(Vector3 e, Vector3 e1)Parameters
Returns
SubEuler312(Vector3, Vector3)
Computes the relative (3-1-2) Euler angle vector from E1 to E.
public static Vector3 SubEuler312(Vector3 e, Vector3 e1)Parameters
Returns
SubEuler313(Vector3, Vector3)
Computes the relative (3-1-3) Euler angle vector from E1 to E.
public static Vector3 SubEuler313(Vector3 e, Vector3 e1)Parameters
Returns
SubEuler321(Vector3, Vector3)
Computes the relative (3-2-1) Euler angle vector from E1 to E.
public static Vector3 SubEuler321(Vector3 e, Vector3 e1)Parameters
Returns
SubEuler323(Vector3, Vector3)
Computes the relative (3-2-3) Euler angle vector from E1 to E.
public static Vector3 SubEuler323(Vector3 e, Vector3 e1)Parameters
Returns
SubGibbs(Vector3, Vector3)
Provides the Gibbs vector which corresponds to the relative rotation to frame Q1 from frame Q2, with Q1 and Q2 both rotations from the same original frame.
public static Vector3 SubGibbs(Vector3 q1, Vector3 q2)Parameters
Returns
SubMRP(Vector3, Vector3)
Provides the MRP vector which corresponds to the relative rotation to frame Q1 from frame Q2, with Q1 and Q2 both rotations from the same original frame.
public static Vector3 SubMRP(Vector3 q1, Vector3 q2)Parameters
Returns
- Vector3
The relative rotation to Q1 from Q2
SubPRV(Vector3, Vector3)
Subtracts a principle rotation vector (PRV)
public static Vector3 SubPRV(Vector3 q10, Vector3 q20)Parameters
Returns
- Vector3
what is this return?
SubQuat(NsQuat, NsQuat)
Provides the Euler parameter vector which corresponds to the relative rotation to frame B1 from frame B2, with B1 and B2 both rotations from the same original frame.
public static NsQuat SubQuat(NsQuat b1, NsQuat b2)Parameters
Returns
WrapToPi(double)
Makes sure that the angle x lies within +/- Pi.
public static double WrapToPi(double x)Parameters
xdoubleThe angle
Returns
dEuler121(Vector3, Vector3)
Returns the (1-2-1) Euler angle derivative vector for a given (1-2-1)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler121(Vector3 q, Vector3 w)Parameters
Returns
dEuler123(Vector3, Vector3)
Returns the (1-2-3) Euler angle derivative vector for a given (1-2-3)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler123(Vector3 q, Vector3 w)Parameters
Returns
dEuler131(Vector3, Vector3)
Returns the (1-3-1) Euler angle derivative vector for a given (1-3-1)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler131(Vector3 q, Vector3 w)Parameters
Returns
dEuler132(Vector3, Vector3)
Returns the (1-3-2) Euler angle derivative vector for a given (1-3-2)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler132(Vector3 q, Vector3 w)Parameters
Returns
dEuler212(Vector3, Vector3)
Returns the (2-1-2) Euler angle derivative vector for a given (2-1-2)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler212(Vector3 q, Vector3 w)Parameters
Returns
dEuler213(Vector3, Vector3)
Returns the (2-1-3) Euler angle derivative vector for a given (2-1-3)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler213(Vector3 q, Vector3 w)Parameters
Returns
dEuler231(Vector3, Vector3)
Returns the (2-3-1) Euler angle derivative vector for a given (2-3-1)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler231(Vector3 q, Vector3 w)Parameters
Returns
dEuler232(Vector3, Vector3)
Returns the (2-3-2) Euler angle derivative vector for a given (2-3-2)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler232(Vector3 q, Vector3 w)Parameters
Returns
dEuler312(Vector3, Vector3)
Returns the (3-1-2) Euler angle derivative vector for a given (3-1-2)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler312(Vector3 q, Vector3 w)Parameters
Returns
dEuler313(Vector3, Vector3)
Returns the (3-1-3) Euler angle derivative vector for a given (3-1-3)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler313(Vector3 q, Vector3 w)Parameters
Returns
dEuler321(Vector3, Vector3)
Returns the (3-2-1) Euler angle derivative vector for a given (3-2-1)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler321(Vector3 q, Vector3 w)Parameters
Returns
dEuler323(Vector3, Vector3)
Returns the (3-2-3) Euler angle derivative vector for a given (3-2-3)
Euler angle vector Q and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dEuler323(Vector3 q, Vector3 w)Parameters
Returns
dGibbs(Vector3, Vector3)
Returns the Gibbs for a given Gibbs vector Q and
body angular velocity vector w.
dQ/dt = 1/2 [B(Q)] w
public static Vector3 dGibbs(Vector3 q, Vector3 w)Parameters
Returns
- Vector3
Gibbs derivative Vector3
dMRP(Vector3, Vector3)
Returns the MRP derivative for a given MRP vector Q
and body angular velocity vector w.
dQ/dt = 1/4 [B(Q)]
public static Vector3 dMRP(Vector3 q, Vector3 w)Parameters
Returns
- Vector3
MRP derivative Vector3
dPRV(Vector3, Vector3)
Returns the PRV derivative for a given PRV vector Q
and body angular velocity vector w.
dQ/dt = [B(Q)] w
public static Vector3 dPRV(Vector3 q, Vector3 w)Parameters
Returns
- Vector3
PRV derivative Vector3
dQuat(NsQuat, Vector3)
Returns the Euler parameter derivative for a given
Euler parameter vector Q and body angular velocity vector w.
dQ/dt = 1 / 2[B(Q)] w
public static NsQuat dQuat(NsQuat q, Vector3 w)Parameters
Returns
- NsQuat
Euler parameter derivative Vector4