TSD model control via composition of Q2D value functions

[avikde]

Related to #44

Plan:

Todo:

• get some information about the sim when using the current B--get more info from solve_ivp?

[avikde]

Equations of motion

• before picking a rotation representation, use scipy to test qdot = omega for rotvec by comparing to a rot matrix

[avikde]

Did that but not conclusive. For now, can store as rotvec, but in the dynamics function, convert to dcm

# test rotvec stuff
rrot1 = np.array([1, 2, 0.1])
r1 = Rotation.from_rotvec(rrot1)
omegab = np.array([0.3,-1,4.9])
R1 = r1.as_dcm()
dt = 0.001
dR = kinematics.skew(omegab * dt)
R2 = R1 @ scipy.linalg.expm(dR)
rrot2 = rrot1 + omegab * dt
print(Rotation.from_dcm(R2).as_rotvec(), rrot2)
sys.exit(0)

[avikde]

Need to fix avikde/controlutils#10 first

[avikde]

Till that fix, I implemented the linearization in Mathematica