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Matt on thinkpad
2022-03-22 05:31:24 +08:00
parent 4f2949c32e
commit 073703747d
1 changed files with 22 additions and 0 deletions
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calcH_HDG14.m
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function H_HDG = calcH_HDG(q0,q1,q2,q3)
%CALCH_HDG
% H_HDG = CALCH_HDG(Q0,Q1,Q2,Q3)
% This function was generated by the Symbolic Math Toolbox version 8.0.
% 22-Aug-2019 09:56:56
t8 = q0.*q3.*2.0;
t9 = q1.*q2.*2.0;
t2 = t8+t9;
t4 = q0.^2;
t5 = q1.^2;
t6 = q2.^2;
t7 = q3.^2;
t3 = t4+t5-t6-t7;
t10 = t3.^2;
t11 = t2.^2;
t12 = t10+t11;
t13 = 1.0./t12;
t14 = 1.0./t3;
t15 = 1.0./t3.^2;
H_HDG = [t10.*t13.*(q3.*t14.*2.0-q0.*t2.*t15.*2.0),t10.*t13.*(q2.*t14.*2.0-q1.*t2.*t15.*2.0),t10.*t13.*(q1.*t14.*2.0+q2.*t2.*t15.*2.0),t10.*t13.*(q0.*t14.*2.0+q3.*t2.*t15.*2.0),0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.0];