Added a coordinate frame transformation for checking the syntax.

docs/src/reactionwheelunicycle.md

@@ -4,4 +4,4 @@ Description = "How the reaction wheel unicycle works."
 
 # The Reaction Wheel Unicycle
 
-``{}_{w2}^{cp}T = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & cos(\alpha) & sin(\alpha) & 0 \\ 0 & -sin(\alpha) & cos(\alpha) & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix} \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & r_w & 1 \end{bmatrix} = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & cos(\alpha) & sin(\alpha) & 0 \\ 0 & -sin(\alpha) & cos(\alpha) & 0 \\ 0 & -r_w sin(\alpha) & r_w cos(\alpha) & 1 \end{bmatrix}``
+``{}_{w2}^{cp}T = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & cos(\alpha) & -sin(\alpha) & 0 \\ 0 & sin(\alpha) & cos(\alpha) & 0 \\ 0 & 0 & 0 & 1 \end{bmatrix} \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & r_w \\ 0 & 0 & 0 & 1 \end{bmatrix} = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & cos(\alpha) & -sin(\alpha) & -r_w sin(\alpha) \\ 0 & sin(\alpha) & cos(\alpha) & r_w cos(\alpha) \\ 0 & 0 & 0 & 1 \end{bmatrix}``