Class Kinematics
- Namespace
- NominalSystems.Maths
- Assembly
- NominalSystems.Maths.dll
[Nominal] This class defines functions for mathematical calculations between different rotation types. In this class, there are a number of different types of rotations:
- DCM (Direction Cosine Matrix, 3x3 matricies)
- Quat (Quaternions, 4-part vectors)
- MRP (Modified Rodriguez Parameters, 3-part vectors)
- Euler (with all 12 combinations in radians, 3-part vectors)
- PRV (Principle Rotation Vector, 3-part vectors)
- Gibbs (3-part vectors)
Each of the types have appropriate conversions between each other and have been unit tested. They are in the form of [A]2B, where [A] is the conversion from, [B] is the conversion 2 and (C) is an optional number ordering if a Euler angle is involved, describing the order that the Euler angle is transformed.
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
- Vector3
[rad] The rotated Euler
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
[rad] 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
- Vector3
[rad] The rotated Euler
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
[rad] 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
- Vector3
[rad] The rotated Euler
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
[rad] 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
- Vector3
[rad] The rotated Euler
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
- Vector3
[rad] The rotated Euler
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
[rad] 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
- Vector3
[rad] The rotated Euler
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
[rad] 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
- Vector3
[rad] The rotated Euler
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
[rad] The rotated Euler
AddGibbs(Vector3, Vector3)
Provides the Gibbs vector which corresponds to performing two successive rotations Q1 and Q2 of the coordinate frame.
public static Vector3 AddGibbs(Vector3 q1, Vector3 q2)Parameters
Returns
- Vector3
The Gibbs angle from the summation
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
[MRP] 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
- Vector3
The PRV angle from the summation
AddQuat(Vector4, Vector4)
Provides the Euler parameter vector (Quaternion) which corresponds to performing two successive rotations B1 and B2 of the coordinate frame.
public static Vector4 AddQuat(Vector4 b1, Vector4 b2)Parameters
Returns
- Vector4
[-] The rotated Quaternion
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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[-] Input 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
qVector3[MRP] Input MRP vector
Returns
- Matrix3
[MRP] 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
qVector3[-] Input Principal Rotation Vector
Returns
- Matrix3
[-] 3x3 Matrix
BInvQuat(Vector4)
Returns the 3x4 matrix which relates the derivative of Euler parameter vector Q to the body angular velocity vector w.
public static Matrix BInvQuat(Vector4 q)Parameters
qVector4[-] Input 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[rad] Input Euler Angle Vector
Returns
- Matrix3
[rad] 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
qVector3[-] Input 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
qVector3[MRP] Input MRP vector
Returns
- Matrix3
[MRP] 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
qVector3[-] Input Principal Rotation Vector
Returns
- Matrix3
[-] 3x3 matrix
BMatQuat(Vector4)
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(Vector4 q)Parameters
qVector4[-] Input Euler Parameter (Quaternion)
Returns
- Matrix
[-] 4x3 matrix
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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] Input 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
DCMMatrix3[-] The 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
DCMMatrix3[-] The 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 Vector4 DCM2Quat(Matrix3 dcm)Parameters
dcmMatrix3[-] The DCM directional cosine matrix
Returns
- Vector4
[-] The Quaternion result
Euler1(double)
Creates an elementary rotation matrix
public static Matrix3 Euler1(double x)Parameters
xdouble[rad] The body axis position
Returns
- Matrix3
[rad] Returns the elementary rotation matrix about the second body axis.
Euler2(double)
Creates an elementary rotation matrix
public static Matrix3 Euler2(double x)Parameters
xdouble[rad]The body axis position
Returns
- Matrix3
[rad] Returns the elementary rotation matrix about the second body axis.
Euler2DCM121(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 Euler2DCM121(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2DCM123(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 Euler2DCM123(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2DCM131(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 Euler2DCM131(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2DCM132(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 Euler2DCM132(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2DCM212(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 Euler2DCM212(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2DCM213(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 Euler2DCM213(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2DCM231(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 Euler2DCM231(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2DCM232(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 Euler2DCM232(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2DCM312(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 Euler2DCM312(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2DCM313(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 Euler2DCM313(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2DCM321(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 Euler2DCM321(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2DCM323(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 Euler2DCM323(Vector3 q)Parameters
qVector3[rad] Input Euler angle
Returns
Euler2Gibbs121(Vector3)
Translates the (1-2-1) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs121(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Gibbs123(Vector3)
Translates the (1-2-3) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs123(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Gibbs131(Vector3)
Translates the (1-3-1) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs131(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Gibbs132(Vector3)
Translates the (1-3-2) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs132(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Gibbs212(Vector3)
Translates the (2-1-2) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs212(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Gibbs213(Vector3)
Translates the (2-1-3) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs213(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Gibbs231(Vector3)
Translates the (2-3-1) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs231(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Gibbs232(Vector3)
Translates the (2-3-2) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs232(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Gibbs312(Vector3)
Translates the (3-1-2) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs312(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Gibbs313(Vector3)
Translates the (3-1-3) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs313(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Gibbs321(Vector3)
Translates the (3-2-1) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs321(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Gibbs323(Vector3)
Translates the (3-2-3) Euler angle vector E into the Gibbs vector Q.
public static Vector3 Euler2Gibbs323(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP121(Vector3)
Translates the (1-2-1) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP121(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP123(Vector3)
Translates the (1-2-3) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP123(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP131(Vector3)
Translates the (1-3-1) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP131(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP132(Vector3)
Translates the (1-3-2) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP132(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP212(Vector3)
Translates the (2-1-2) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP212(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP213(Vector3)
Translates the (2-1-3) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP213(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP231(Vector3)
Translates the (2-3-1) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP231(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP232(Vector3)
Translates the (2-3-2) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP232(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP312(Vector3)
Translates the (3-1-2) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP312(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP313(Vector3)
Translates the (3-1-3) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP313(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP321(Vector3)
Translates the (3-2-1) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP321(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2MRP323(Vector3)
Translates the (3-2-3) Euler angle vector E into the MRP vector Q.
public static Vector3 Euler2MRP323(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV121(Vector3)
Translates the (1-2-1) Euler angle vector E into the principal rotation vector vector Q.
public static Vector3 Euler2PRV121(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV123(Vector3)
Translates the (1-2-3) Euler angle vector E into the principal rotation vector vector Q.
public static Vector3 Euler2PRV123(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV131(Vector3)
Translates the (1-3-1) Euler angle vector E into the principal rotation vector vector Q.
public static Vector3 Euler2PRV131(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV132(Vector3)
Translates the (1-3-2) Euler angle vector E into the principal rotation vector vector Q.
public static Vector3 Euler2PRV132(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV212(Vector3)
Translates the (2-1-2) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2PRV212(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV213(Vector3)
Translates the (2-1-3) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2PRV213(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV231(Vector3)
Translates the (2-3-1) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2PRV231(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV232(Vector3)
Translates the (2-3-2) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2PRV232(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV312(Vector3)
Translates the (3-1-2) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2PRV312(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV313(Vector3)
Translates the (3-1-3) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2PRV313(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV321(Vector3)
Translates the (3-2-1) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2PRV321(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2PRV323(Vector3)
Translates the (3-2-3) Euler angle vector E into the principal rotation vector Q.
public static Vector3 Euler2PRV323(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat121(Vector3)
Translates the 1-2-1 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat121(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat123(Vector3)
Translates the 1-2-3 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat123(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat123(double, double, double)
Converts a series of 3 angles, in the order of the first, second and third, to a quaternion. The angles must be in radians.
public static Vector4 Euler2Quat123(double a, double b, double c)Parameters
Returns
- Vector4
A quaternion that represents the angle
Euler2Quat131(Vector3)
Translates the 1-3-1 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat131(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat132(Vector3)
Translates the 1-3-2 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat132(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat212(Vector3)
Translates the 2-1-2 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat212(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat213(Vector3)
Translates the 2-1-3 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat213(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat231(Vector3)
Translates the 2-3-1 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat231(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat232(Vector3)
Translates the 2-3-2 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat232(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat312(Vector3)
Translates the 3-1-2 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat312(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat313(Vector3)
Translates the 3-1-3 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat313(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat321(Vector3)
Translates the 3-2-1 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat321(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler2Quat323(Vector3)
Translates the 3-2-3 Euler angle vector E into the Euler parameter vector Q.
public static Vector4 Euler2Quat323(Vector3 e)Parameters
eVector3[rad] Input Euler angle
Returns
Euler3(double)
Creates an elementary rotation matrix
public static Matrix3 Euler3(double x)Parameters
xdouble[rad] The body axis position
Returns
- Matrix3
[rad] Returns the elementary rotation matrix about the third body axis.
Gibbs2DCM(Vector3)
Returns the direction cosine matrix in terms of the 3x1 Gibbs vector Q.
public static Matrix3 Gibbs2DCM(Vector3 q)Parameters
qVector3[-] Gibbs 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
qVector3[-] Gibbs 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
qVector3[-] Gibbs 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
qVector3[-] Gibbs 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
qVector3[-] Gibbs 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
qVector3[-] Gibbs 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
qVector3[-] Gibbs 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
qVector3[-] Gibbs 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
qVector3[-] Gibbs 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
qVector3[-] Gibbs 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
qVector3[-] Gibbs 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
qVector3[-] Gibbs 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
qVector3[-] Gibbs vector
Returns
Gibbs2MRP(Vector3)
translates the Gibbs vector Q1 into the MRP vector Q.
public static Vector3 Gibbs2MRP(Vector3 q1)Parameters
q1Vector3[-] Input Gibbs vector
Returns
Gibbs2PRV(Vector3)
Translates the Gibbs vector Q1 into the principal rotation vector Q.
public static Vector3 Gibbs2PRV(Vector3 q1)Parameters
q1Vector3[-]Input Gibbs vector
Returns
Gibbs2Quat(Vector3)
Translates the Gibbs vector Q1 into the Euler parameter vector Q.
public static Vector4 Gibbs2Quat(Vector3 q1)Parameters
q1Vector3[-]The input gibbs vector
Returns
MRP2DCM(Vector3)
Translate the Modified Rodrigues Parameters into the equivalent Direction Cosine Matrix (DCM).
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
qVector3[MRP] Input 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
qVector3[MRP] Input 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
qVector3[MRP] Input 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
qVector3[MRP] Input 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
qVector3[MRP] Input 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
qVector3[MRP] Input 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
qVector3[MRP] Input 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
qVector3[MRP] Input 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
qVector3[MRP] Input 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
qVector3[MRP] Input 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
qVector3[MRP] Input 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
qVector3[MRP] Input MRP vector
Returns
MRP2Gibbs(Vector3)
Translates the MRP vector Q1 into the Gibbs vector Q.
public static Vector3 MRP2Gibbs(Vector3 q1)Parameters
q1Vector3[MRP]Input MRP vector
Returns
MRP2PRV(Vector3)
Translates the MRP vector mrp into the principal rotation vector
public static Vector3 MRP2PRV(Vector3 mrp)Parameters
mrpVector3[MRP]The MRP input
Returns
MRP2Quat(Vector3)
Translates the MRP vector Q1 into the Euler parameter vector q (i.e. a Quaternion).
public static Vector4 MRP2Quat(Vector3 q1)Parameters
q1Vector3[MRP] The Modified Rodrigues Parameters to be converted to a quaternion
Returns
MRPShadow(Vector3)
Forces a switch from the current MRP to its shadow set
public static Vector3 MRPShadow(Vector3 qin)Parameters
qinVector3[MRP] Current 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
- Vector3
The MRP in the correct form
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
qVector3[-] Input principal rotation vector
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
qVector3[-] Input 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
qVector3[-] Input 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
qVector3[-] Input 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
qVector3[-] Input 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
qVector3[-] Input 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
qVector3[-] Input 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
qVector3[-] Input 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
qVector3[-] Input 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
qVector3[-] Input 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
qVector3[-] Input 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
qVector3[-] Input 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
qVector3[-] Input principal rotation vector
Returns
PRV2Gibbs(Vector3)
Translates the principal rotation vector q0 into the Gibbs vector Q.
public static Vector3 PRV2Gibbs(Vector3 q0)Parameters
q0Vector3[-] Input 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
q0Vector3[-] The rotation vector
Returns
PRV2Quat(Vector3)
Translates the principal rotation vector Q1 into the Euler parameter vector Q.
public static Vector4 PRV2Quat(Vector3 q0)Parameters
q0Vector3[-] Input principal rotation vector
Returns
Quat2DCM(Vector4)
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(Vector4 q)Parameters
qVector4[-] Input euler parameter vector
Returns
- Matrix3
[-] Direction Cosine Matrix
Quat2Euler121(Vector4)
Translates the Euler parameter vector Q into the corresponding (1-2-1) Euler angle vector E.
public static Vector3 Quat2Euler121(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Euler123(Vector4)
Translates the Euler parameter vector Q into the corresponding (1-2-3) Euler angle vector E.
public static Vector3 Quat2Euler123(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Euler131(Vector4)
Translates the Euler parameter vector Q into the corresponding (1-3-1) Euler angle vector E.
public static Vector3 Quat2Euler131(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Euler132(Vector4)
Translates the Euler parameter vector Q into the corresponding (1-3-2) Euler angle vector E.
public static Vector3 Quat2Euler132(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Euler212(Vector4)
Translates the Euler parameter vector Q into the corresponding (2-1-2) Euler angle vector E.
public static Vector3 Quat2Euler212(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Euler213(Vector4)
Translates the Euler parameter vector Q into the corresponding (2-1-3) Euler angle vector E.
public static Vector3 Quat2Euler213(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Euler231(Vector4)
Translates the Euler parameter vector Q into the corresponding (2-3-1) Euler angle vector E.
public static Vector3 Quat2Euler231(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Euler232(Vector4)
Translates the Euler parameter vector Q into the corresponding (2-3-2) Euler angle vector E.
public static Vector3 Quat2Euler232(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Euler312(Vector4)
Translates the Euler parameter vector Q into the corresponding (3-1-2) Euler angle vector E.
public static Vector3 Quat2Euler312(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Euler313(Vector4)
Translates the Euler parameter vector Q into the corresponding (3-1-3) Euler angle vector E.
public static Vector3 Quat2Euler313(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Euler321(Vector4)
Translates the Euler parameter vector Q into the corresponding (3-2-1) Euler angle vector E.
public static Vector3 Quat2Euler321(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Euler323(Vector4)
Translates the Euler parameter vector Q into the corresponding (3-2-3) Euler angle vector E.
public static Vector3 Quat2Euler323(Vector4 q)Parameters
qVector4[-] Input Euler Parameter vector
Returns
Quat2Gibbs(Vector4)
Translates the Euler parameter vector Q1 into the Gibbs vector Q.
public static Vector3 Quat2Gibbs(Vector4 q1)Parameters
q1Vector4[-] Input Euler parameter vector
Returns
Quat2MRP(Vector4)
Translates the Euler parameter vector Q1 into the MRP vector Q.
public static Vector3 Quat2MRP(Vector4 q1)Parameters
q1Vector4[-] Input Euler parameter vector
Returns
Quat2PRV(Vector4)
Translates the Euler parameter vector Q1 into the principal rotation vector Q.
public static Vector3 Quat2PRV(Vector4 q1)Parameters
q1Vector4[-] The 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
[MRP] 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
[-] The relative rotation to Q10 from Q20
SubQuat(Vector4, Vector4)
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 Vector4 SubQuat(Vector4 b1, Vector4 b2)Parameters
Returns
UpAxis2DCM(Vector3)
Returns a DCM matrix that aligns the up axis with the given direction.
public static DCM UpAxis2DCM(Vector3 up)Parameters
upVector3The up axis to align with
Returns
- DCM
The DCM that is aligned to the up axis
UpAxis2DCM(Vector3, Vector3)
Returns a DCM matrix that aligns the up axis with another alignment axis.
public static DCM UpAxis2DCM(Vector3 up, Vector3 alignment)Parameters
Returns
- DCM
The DCM that is the axis transposition
UpAxis2DCMMatrix(Vector3)
Returns a DCM matrix that aligns the up axis with the given direction.
public static Matrix3 UpAxis2DCMMatrix(Vector3 up)Parameters
upVector3The up axis to align with
Returns
- Matrix3
The DCM that is aligned to the up axis
WrapAngle(double)
Makes sure that the angle X lies within +/- PI.
public static double WrapAngle(double x)Parameters
xdouble[rad] The angle
Returns
- double
The value that is wrapped to (-PI, PI]
WrapVector3(Vector3)
Wraps a Vector3 set of angles to between +/- PI. This will have the values between (-PI, PI].
public static Vector3 WrapVector3(Vector3 v)Parameters
vVector3The input vector that needs to be wrapped
Returns
- Vector3
The vector wrapped between (-PI, PI]