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obsidian_backup/多体+耦合求解器/计算角度 大小 速度 偏加速度.md

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yaw

// Partial angular velocity of the nacelle (body N) in the inertia frame (body E for earth) [-]


rt_hs.p_ang_vel_en.slice_mut(s![.., 0, ..]).assign(&rt_hs.p_ang_vel_eb.slice_mut(s![.., 0, ..]));

rt_hs.p_ang_vel_en.slice_mut(s![DOF_YAW -1, 0, ..]).assign(&coord_sys.d2.clone());

rt_hs.ang_vel_en = rt_hs.ang_vel_eb.clone() + x.qdt[DOF_YAW as usize- 1] * rt_hs.p_ang_vel_en.slice_mut(s![DOF_YAW -1, 0, ..]).to_owned();


rt_hs.p_ang_vel_en.slice_mut(s![.., 1, ..]).assign(&rt_hs.p_ang_vel_eb.slice_mut(s![.., 1, ..]));

let p_ang_vel_en_slice = rt_hs.p_ang_vel_en.slice(s![DOF_YAW - 1, 0, ..]).to_owned();

rt_hs.p_ang_vel_en.slice_mut(s![DOF_YAW - 1, 1, ..]).assign(&cross_product(&rt_hs.ang_vel_eb, &p_ang_vel_en_slice));

rt_hs.ang_acc_ent = rt_hs.ang_acc_ebt.clone() + x.qdt[DOF_YAW as usize- 1] * rt_hs.p_ang_vel_en.slice_mut(s![DOF_YAW - 1, 1, ..]).to_owned();