.Spot.Base.Math.angVelocity

Information

Angular velocity omega of 2-dimensional vector x from

  x and x_dot = der(x)

omega is determined by

  omega = datan(x[2]/x[1])*der(x[2]/x[1])
  datan(y) = d atan(y)/dy

Interface

function angVelocity
  extends Icons.Function;
  input Real[2] x "2-dimensional vector";
  input Real[2] x_dot "time-derivative of x";
  output Real omega "angular velocity of x";
end angVelocity;