Rigid Body Model

RigidBody(state_indices=(), rate_indices=(), prescribed_values=())

Construct a six-degree of freedom rigid-body model with state variables $xr, yr, zr, \phi, \theta, \psi, ur, vr, wr, pr, qr, rr$ and inputs $m, I_{xx}, I_{yy}, I_{zz}, I_{xz}, I_{xy}, I_{yz}, F_x, F_y, F_z, M_x, M_y, M_z$. Uses the state variables corresponding to state_indices to set the state rates corresponding to rate_indices to the values specified in prescribed_values. Otherwise, allow the state variables and their respective rates to be defined by their rate equations.