emmy.mechanics.rigid — org.mentat/emmy 0.31.0

antisymmetric->column-matrix clj/s

(antisymmetric->column-matrix a)

Given an antisymmetric matrix a of dimension 3, returns a column vector of its positive components.

Euler->omega clj/s

(Euler->omega angles-path)

Euler->omega-body clj/s

(Euler->omega-body angles-path)

Euler-state->L-body clj/s

Alias for L-body-Euler.

Euler-state->L-space clj/s

Alias for L-space-Euler.

Euler-state->omega-body clj/s

(Euler-state->omega-body [_ [theta _ psi] [thetadot phidot psidot]])

Although this implementation appears to summarize (M->omega-body r/Euler->M), it is actually essential to prevent intermediate expression explosion.

L-body clj/s

(L-body A B C)

L-body-Euler clj/s

(L-body-Euler A B C)

L-space clj/s

(L-space M)

L-space-Euler clj/s

(L-space-Euler A B C)

M->omega clj/s

(M->omega M-of-q)

M->omega-body clj/s

(M->omega-body M-of-q)

M-of-q->omega-body-of-t clj/s

(M-of-q->omega-body-of-t M-of-q)

M-of-q->omega-of-t clj/s

(M-of-q->omega-of-t M-of-q)

quaternion-state->omega-body clj/s

(quaternion-state->omega-body [_ q qdot])

quaternion-state->omega-space clj/s

(quaternion-state->omega-space [_ q qdot])

qw-state->L-body clj/s

(qw-state->L-body A B C)

qw-state->L-space clj/s

(qw-state->L-space A B C)

rigid-sysder clj/s

(rigid-sysder A B C)

T-body clj/s

(T-body A B C)

T-body-Euler clj/s

(T-body-Euler A B C)

T-quaternion-state clj/s

(T-quaternion-state A B C)

T-rigid-body clj/s

Alias for T-body-Euler.

three-vector-components->antisymmetric clj/s

(three-vector-components->antisymmetric [x y z])