mirror of https://github.com/ArduPilot/ardupilot
15 lines
434 B
Mathematica
15 lines
434 B
Mathematica
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function Tms = calcTms(gPhi,gPsi,gTheta)
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%CALCTMS
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% TMS = CALCTMS(GPHI,GPSI,GTHETA)
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% This function was generated by the Symbolic Math Toolbox version 6.1.
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% 15-Feb-2015 16:02:09
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t2 = cos(gTheta);
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t3 = sin(gPsi);
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t4 = cos(gPsi);
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t5 = sin(gPhi);
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t6 = sin(gTheta);
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t7 = cos(gPhi);
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Tms = reshape([t2.*t4-t3.*t5.*t6,-t3.*t7,t4.*t6+t2.*t3.*t5,t2.*t3+t4.*t5.*t6,t4.*t7,t3.*t6-t2.*t4.*t5,-t6.*t7,t5,t2.*t7],[3, 3]);
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