Kinematics

struct InitKinematicsData

Struct that consists of the initial state value of the time-variant physical amounts in simulation

_calcdifferential_kinematics(omega::Vector, quaterion::Vector)

Get differential of quaternion from equation of kinematics

Arguments

• omega: angular velocity of system
• quaterion: current value of quaternion

Return

• differential: differential of equation of kinematics

function _initangularvelocity(simdata_num, initital_value::Vector)

Initialize array that contains time response of angular velocity

function _initquaternion(simdata_num, initial_value::Vector[4])

initialize array that contains time response of quaternion

initattitudedata(datanum::Int, initialdata::InitKinematicsData)

Initialize the data container for the attitude dynamics

function update_quaternion(angularvelocity, quaternion, Tsampling)::SVector{4, <:Real}

calculate quaternion at next time step using 4th order Runge-Kutta method.