{"product_id":"an-effective-rigid-body-math-model","title":"An Effective Rigid Body Math Model","description":"\u003cp\u003eThis technical brief summarizes an elegant algebraic description of rigid body position and attitude along with analytical derivatives associated with body motions. The equations presented here offer a fully general representation that is entirely singularity-free. The expressions capture all six degrees of freedom associated to a physical body within a math model containing exactly six free parameters based on the exponential map. A particularly pragmatic benefit is that the math model and all of its parameters have direct associations with physical characteristics that can be observed and\/or measured directly by physical instrumentation and sensor systems. The expressions describing body position and attitude are necessarily non-linear, but have relatively simple forms on which simple numerical solution methods are exceptionally effective.\u003c\/p\u003e","brand":"Dave Knopp","offers":[{"title":"Paperback","offer_id":44931105521825,"sku":"9781387907946","price":47.96,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0462\/1120\/3233\/files\/gmje5v-front-shortedge-384_2d3e2414-f759-4acb-8296-37c6e280d955.jpg?v=1748304965","url":"https:\/\/bookswholesale.myshopify.com\/products\/an-effective-rigid-body-math-model","provider":"BooksWholesale","version":"1.0","type":"link"}