From 5d696a335209720e1aeff86813bd8f791bdfe46f Mon Sep 17 00:00:00 2001 From: Mohammad Javad Azadi Date: Mon, 9 Sep 2024 11:45:55 -0700 Subject: [PATCH] Added a coordinate frame transformation for checking the syntax. --- docs/src/reactionwheelunicycle.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/src/reactionwheelunicycle.md b/docs/src/reactionwheelunicycle.md index 8d33a65..61003c1 100644 --- a/docs/src/reactionwheelunicycle.md +++ b/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}`` \ No newline at end of file +``{}_{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}`` \ No newline at end of file