function

RigidBody.attitudeRate

Quaternion component of the rigid-body vector field

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`state`	`RigidBody.State`
input	`parameters`	`RigidBody.Parameters`
output	`rate`	`Real`	`[4]`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function attitudeRate "Quaternion component of the rigid-body vector field"
  input RigidBody.State state;
  input RigidBody.Parameters parameters;
  output Real rate[4];
algorithm
  rate := LieGroups.SO3.Quat.kinematics(
    state.attitude, state.bodyAngularVelocity)
    - parameters.quaternionNormGain
      * (state.attitude[1] * state.attitude[1]
        + state.attitude[2] * state.attitude[2]
        + state.attitude[3] * state.attitude[3]
        + state.attitude[4] * state.attitude[4] - 1.0)
      * state.attitude;
end attitudeRate;