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+ cos(^)* sin(to)* sin(0)) — cos(^)* sin(to)* cos(0))

— sin(^)* sin(to)* sin(0)) + sin(^)* sin(to)*cos(0))

+ cos(^)* sin(to)* sin(0)) — cos(^)* sin(to)* cos(0))

— sin(^)* sin(to)* sin(0)) + sin(^)* sin(to)*cos(0))

The decomposition is otherwise similar to the rigid-body case, except that the instantaneous simMZfa««OMS translational matrix will have different values than before and will describe a vector followed by the origin as it rotates around the rotational axis of

And a representation of the second formulation is

: translations* rescaling* yaw* roll*pitch*

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