$LastChangedDate: 27-Juil-2011 $

# CL_rot_angularVelocity

Rotation angles to angular velocity and acceleration vectors

## Calling Sequence

       [om,omp] = CL_rot_angularVelocity(naxes,angles,angles_der,angles_der2)

## Description

- Computes the angular rotation and acceleration vectors resulting from a combination of 3 rotations.

  The rotation axes are defined by numbers: 1=x-axis, 2=y-axis, 3=z-axis.

## Parameters

naxes :

  Axes numbers: 1=x-axis, 2=y-axis or 3=z-axis (1x3 or 3x1)

angles :

  Rotation angles around respective axes [rad] (3xN)

angles_der :

  First derivatives of angles with respect to time [rad/s] (3xN)

angles_der2 :

  Second derivatives of angles with respect to time [rad/s^2] (3xN)

om :

  Angular rotation vector (3xN)

omp :

  Angular acceleration vector (3xN)

## Authors

- CNES - DCT/SB

## See also

- CL_rot_defQuat

- CL_rot_matrix2quat

## Examples

    naxes = [1,2,3]; // XYZ
    angles = [%pi/4 ; %pi/8 ; %pi/6]
    angles_der = [%pi/4 ; %pi/8 ; %pi/6]
    angles_der2 = [%pi/4 ; %pi/8 ; %pi/6]
    [om,omp] = CL_rot_angularVelocity(naxes,angles,angles_der,angles_der2)