11 lines
277 B
Mathematica
11 lines
277 B
Mathematica
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function m = getMu(R,P)
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% Get transformation for potential energy derivatives
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% R - rotation from i-1 to i frame
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% P - position of i frame
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% Return:
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% transformation matrix
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m = [zeros(6,10);
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zeros(3,6),R',zeros(3,1);
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zeros(1,6),P',1];
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end
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