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1 %!PS (but not EPSF; comments have been disabled) |
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2 %DVIPSCommandLine: dvips tmp -o quaternion.ps |
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3 %DVIPSParameters: dpi=600, compressed, comments removed |
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4 %DVIPSSource: TeX output 1998.10.23:1515 |
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5 /TeXDict 250 dict def TeXDict begin /N{def}def /B{bind def}N /S{exch}N |
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7 mul N /landplus90{false}def /@rigin{isls{[0 landplus90{1 -1}{-1 1} |
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8 ifelse 0 0 0]concat}if 72 Resolution div 72 VResolution div neg scale |
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9 isls{landplus90{VResolution 72 div vsize mul 0 exch}{Resolution -72 div |
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10 hsize mul 0}ifelse TR}if Resolution VResolution vsize -72 div 1 add mul |
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11 TR[matrix currentmatrix{dup dup round sub abs 0.00001 lt{round}if} |
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12 forall round exch round exch]setmatrix}N /@landscape{/isls true N}B |
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13 /@manualfeed{statusdict /manualfeed true put}B /@copies{/#copies X}B |
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14 /FMat[1 0 0 -1 0 0]N /FBB[0 0 0 0]N /nn 0 N /IE 0 N /ctr 0 N /df-tail{ |
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15 /nn 8 dict N nn begin /FontType 3 N /FontMatrix fntrx N /FontBBox FBB N |
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20 length 5 sub get}B /ch-height{ch-data dup length 4 sub get}B /ch-xoff{ |
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25 /base get 2 index get S /BitMaps get S get /ch-data X pop /ctr 0 N ch-dx |
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26 0 ch-xoff ch-yoff ch-height sub ch-xoff ch-width add ch-yoff |
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27 setcachedevice ch-width ch-height true[1 0 0 -1 -.1 ch-xoff sub ch-yoff |
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28 .1 sub]/id ch-image N /rw ch-width 7 add 8 idiv string N /rc 0 N /gp 0 N |
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29 /cp 0 N{rc 0 ne{rc 1 sub /rc X rw}{G}ifelse}imagemask restore}B /G{{id |
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30 gp get /gp gp 1 add N dup 18 mod S 18 idiv pl S get exec}loop}B /adv{cp |
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31 add /cp X}B /chg{rw cp id gp 4 index getinterval putinterval dup gp add |
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32 /gp X adv}B /nd{/cp 0 N rw exit}B /lsh{rw cp 2 copy get dup 0 eq{pop 1}{ |
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33 dup 255 eq{pop 254}{dup dup add 255 and S 1 and or}ifelse}ifelse put 1 |
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35 idiv S 128 and or}ifelse}ifelse put 1 adv}B /clr{rw cp 2 index string |
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38 {adv 1 chg nd}{1 add chg}{1 add chg nd}{adv lsh}{adv lsh nd}{adv rsh}{ |
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76 }{6 -2 roll transform 6 -2 roll transform 6 -2 roll transform{ |
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108 }{rhiSeen{rhi ury lly sub div dup scale llx neg lly neg TR}if}ifelse |
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109 CLIP 2 eq{newpath llx lly moveto urx lly lineto urx ury lineto llx ury |
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|
1520 453E80BD46>I E end |
|
1521 TeXDict begin |
|
1522 |
|
1523 1 0 bop 249 763 a Fv(Quaternions:)60 b(An)44 b(In)l(tro)t(duction)g |
|
1524 (with)g(Octa)l(v)l(e)g(m-\014le)g(examples)1071 1016 |
|
1525 y Fu(A.)32 b(S.)h(Ho)s(del)f Ft(a.s.hodel@eng.auburn.edu)1462 |
|
1526 1219 y Fs(R)q(ev)t(ision)d Fu(:)f(1)p Fs(:)p Fu(1)k(\(c\))g(1998)1537 |
|
1527 1568 y Fr(Ac)m(kno)m(wledgemen)m(t)0 1781 y Fq(The)g(author)g |
|
1528 (gratefully)f(thanks)h(the)h(Fligh)m(t)f(Con)m(trols)g(and)f(Dynamics)h |
|
1529 (Branc)m(h)h(at)g(Marshall)e(Space)h(Fligh)m(t)0 1894 |
|
1530 y(Cen)m(ter)h(for)f(their)g(useful)f(discussions)f(that)j(led)f(to)h |
|
1531 (this)f(do)s(cumen)m(t)g(and)g(m-\014le)g(suite.)47 b(Citations)32 |
|
1532 b(are)h(giv)m(en)0 2007 y(where)28 b(they)g(w)m(ere)h(a)m(v)-5 |
|
1533 b(ailable)28 b(to)h(me.)40 b(I)28 b(w)m(elcome)h(an)m(y)g(suggestions)f |
|
1534 (for)g(additional)e(reference)j(material)f(to)h(b)s(e)0 |
|
1535 2120 y(placed)h(in)f(the)h(bibliograph)m(y)-8 b(.)0 2406 |
|
1536 y Fp(Con)l(ten)l(ts)0 2610 y Fr(1)84 b(Quaternions)3154 |
|
1537 b(2)136 2723 y Fq(1.1)94 b(De\014nition)61 b Fo(:)46 |
|
1538 b(:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)f(:)h |
|
1539 (:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)g(:)f(:) |
|
1540 h(:)g(:)f(:)h(:)g(:)f(:)131 b Fq(2)136 2836 y(1.2)94 |
|
1541 b(Multiplication)28 b(of)i(quaternions)72 b Fo(:)46 b(:)g(:)f(:)h(:)g |
|
1542 (:)f(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:) |
|
1543 g(:)f(:)h(:)g(:)f(:)h(:)g(:)f(:)131 b Fq(2)136 2949 y(1.3)94 |
|
1544 b(Quaternions)29 b(as)i(rotations)39 b Fo(:)46 b(:)g(:)f(:)h(:)g(:)f(:) |
|
1545 h(:)g(:)f(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:)h |
|
1546 (:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)f(:)131 b Fq(3)136 |
|
1547 3061 y(1.4)94 b(Application)29 b(of)h(quaternions)g(in)f(co)s(ordinate) |
|
1548 h(frame)g(transformations)53 b Fo(:)45 b(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:) |
|
1549 h(:)g(:)f(:)131 b Fq(6)345 3174 y(1.4.1)106 b(Euler)29 |
|
1550 b(angles)i Fo(:)46 b(:)f(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)f(:)h(:) |
|
1551 g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)g(:)f(:)h |
|
1552 (:)g(:)f(:)h(:)g(:)f(:)131 b Fq(6)345 3287 y(1.4.2)106 |
|
1553 b(Co)s(ordinate)30 b(transformation)g(matrices)g(and)g(quaternions)46 |
|
1554 b Fo(:)g(:)g(:)f(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)f(:)131 |
|
1555 b Fq(6)136 3400 y(1.5)94 b(Time)30 b(deriv)-5 b(ativ)m(e)30 |
|
1556 b(of)g(a)h(quaternion)42 b Fo(:)k(:)f(:)h(:)g(:)f(:)h(:)g(:)g(:)f(:)h |
|
1557 (:)g(:)f(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:)h(:)g(:)g(:)f(:)h(:)g(:)f(:)h(:) |
|
1558 g(:)f(:)85 b Fq(12)1927 5656 y(1)p eop |
|
1559 2 1 bop 0 100 a Fn(A.)31 b(S.)f(Ho)s(del:)40 b(Quaternions)29 |
|
1560 b(\(In)m(tro)s(duction\))g Fo(R)q(ev)s(ision)d Fq(:)f(1)p |
|
1561 Fo(:)p Fq(1)436 b Fn(\(c\))31 b(1998)902 b Fq(2)0 399 |
|
1562 y Fp(1)135 b(Quaternions)0 601 y Fq(A)32 b(con)m(v)m(enien)m(t)g(w)m(a) |
|
1563 m(y)h(to)f(represen)m(t)f(the)h(relativ)m(e)g(orien)m(tation)f(of)h(t)m |
|
1564 (w)m(o)g(frames)g(is)e(through)h(the)h(use)f(of)g(quater-)0 |
|
1565 714 y(nions.)0 958 y Fm(1.1)112 b(De\014nition)0 1129 |
|
1566 y Fr(De\014nition)35 b(1.1)46 b Fq(A)31 b(quaternion)e(is)g(a)i(4-v)m |
|
1567 (ector)i(de\014ned)c(b)m(y)1268 1334 y Fo(q)f Fq(=)d |
|
1568 Fo(a)1474 1313 y Fq(^)1481 1334 y Fo(i)c Fq(+)f Fo(b)1662 |
|
1569 1313 y Fq(^)1663 1334 y Fo(j)26 b Fq(+)19 b Fo(c)1857 |
|
1570 1310 y Fq(^)1855 1334 y Fo(k)24 b Fq(+)c Fo(d;)46 b(a;)15 |
|
1571 b(b;)g(c;)g(d)27 b Fl(2)e Fq(I)-9 b(R)0 1538 y(where)256 |
|
1572 1517 y(^)263 1538 y Fo(i)p Fq(,)348 1517 y(^)350 1538 |
|
1573 y Fo(j)5 b Fq(,)450 1514 y(^)448 1538 y Fo(k)33 b Fq(are)e(quan)m |
|
1574 (tities)f(satisfying)1498 1517 y(^)1505 1538 y Fo(i)1536 |
|
1575 1505 y Fk(2)1601 1538 y Fq(=)1696 1517 y(^)1697 1538 |
|
1576 y Fo(j)1739 1505 y Fk(2)1804 1538 y Fq(=)1903 1514 y(^)1900 |
|
1577 1538 y Fo(k)1950 1505 y Fk(2)2015 1538 y Fq(=)25 b Fl(\000)p |
|
1578 Fq(1)31 b(and)1476 1721 y(^)1483 1742 y Fo(i)1513 1721 |
|
1579 y Fq(^)1515 1742 y Fo(j)f Fq(=)1681 1718 y(^)1678 1742 |
|
1580 y Fo(k)1846 1721 y Fq(^)1847 1742 y Fo(j)1892 1718 y |
|
1581 Fq(^)1890 1742 y Fo(k)e Fq(=)2054 1721 y(^)2061 1742 |
|
1582 y Fo(i)2213 1718 y Fq(^)2211 1742 y Fo(k)2254 1721 y |
|
1583 Fq(^)2261 1742 y Fo(i)e Fq(=)2412 1721 y(^)2413 1742 |
|
1584 y Fo(j)1372 1859 y Fq(^)1373 1880 y Fo(j)6 b Fq(\0201)25 |
|
1585 b(=)g Fl(\000)1681 1856 y Fq(^)1679 1880 y Fo(k)1814 |
|
1586 1856 y Fq(^)1812 1880 y Fo(k)1860 1859 y Fq(^)1862 1880 |
|
1587 y Fo(j)31 b Fq(=)25 b Fl(\000)2090 1859 y Fq(^)2097 1880 |
|
1588 y Fo(i)2204 1859 y Fq(^)2211 1880 y Fo(i)2244 1856 y |
|
1589 Fq(^)2242 1880 y Fo(k)k Fq(=)24 b Fl(\000)2483 1859 y |
|
1590 Fq(^)2484 1880 y Fo(j)0 2092 y Fr(Remark)34 b(1.1)46 |
|
1591 b Fq(Notice)35 b(that)1058 2072 y(^)1065 2092 y Fo(i)p |
|
1592 Fq(,)1154 2072 y(^)1156 2092 y Fo(j)5 b Fq(,)35 b(and)1440 |
|
1593 2068 y(^)1438 2092 y Fo(k)h Fq(are)e(scalar)g(quan)m(tities)e(equal)h |
|
1594 (to)2718 2021 y Fl(p)p 2793 2021 117 4 v 2793 2092 a(\000)p |
|
1595 Fq(1)q(;)i(ho)m(w)m(ev)m(er,)3341 2072 y(^)3348 2092 |
|
1596 y Fo(i)p Fq(,)3437 2072 y(^)3438 2092 y Fo(j)6 b Fq(,)35 |
|
1597 b(and)3723 2068 y(^)3720 2092 y Fo(k)i Fq(do)0 2205 y(not)g(comm)m(ute) |
|
1598 h(under)d(m)m(ultiplication.)56 b(Therefore)36 b(quaternions)g(do)g |
|
1599 (not)h(comm)m(ute)h(under)d(m)m(ultiplication)0 2318 |
|
1600 y(\()p Fo(q)76 2332 y Fk(1)115 2318 y Fo(q)156 2332 y |
|
1601 Fk(2)221 2318 y Fl(6)p Fq(=)25 b Fo(q)358 2332 y Fk(2)397 |
|
1602 2318 y Fo(q)438 2332 y Fk(1)497 2318 y Fq(in)20 b(general\).)38 |
|
1603 b(This)19 b(is)h(consisten)m(t)h(with)f(the)h(in)m(terpretation)f(of)h |
|
1604 (quaternions)f(as)h(spatial)f(rotations)0 2431 y(\(to)31 |
|
1605 b(b)s(e)f(discussed)f(in)g Fl(x)p Fq(1.4.2.)0 2644 y |
|
1606 Fr(M-\014le)46 b Fj(quaternion)57 b Fq(Create/extract)34 |
|
1607 b(quaternion)29 b(information:)227 2869 y Fj(quaternion:)45 |
|
1608 b(construct)g(or)i(extract)f(a)i(quaternion)227 2982 |
|
1609 y(w)g(=)f(a*i)g(+)h(b*j)e(+)i(c*k)f(+)g(d)h(from)e(given)h(data.)227 |
|
1610 3207 y(calling)f(formats:)227 3320 y([a,b,c,d])141 b(=)47 |
|
1611 b(quaternion\(w\))570 b(-or-)227 3433 y([vv,theta])45 |
|
1612 b(=)j(quaternion\(w\))227 3546 y(w)525 b(=)47 b(quaternion\(a,b,c,d\)) |
|
1613 227 3659 y(w)525 b(=)47 b(quaternion\(vv,theta\))227 |
|
1614 3884 y Fq(\()p Fj(vv,theta)29 b Fq(format)h(to)i(b)s(e)d(explained)g |
|
1615 (later\))0 4128 y Fm(1.2)112 b(Multiplication)34 b(of)k(quaternions)0 |
|
1616 4299 y Fq(F)-8 b(rom)31 b(De\014nition)e(1.1,)j(w)m(e)e(ha)m(v)m(e)533 |
|
1617 4503 y Fo(q)574 4517 y Fk(1)613 4503 y Fo(q)654 4517 |
|
1618 y Fk(2)776 4503 y Fq(=)83 b(\()p Fo(a)1013 4517 y Fk(1)1046 |
|
1619 4483 y Fq(^)1053 4503 y Fo(i)20 b Fq(+)g Fo(b)1234 4517 |
|
1620 y Fk(1)1272 4483 y Fq(^)1274 4503 y Fo(j)26 b Fq(+)20 |
|
1621 b Fo(c)1467 4517 y Fk(1)1509 4479 y Fq(^)1506 4503 y |
|
1622 Fo(k)k Fq(+)c Fo(d)1715 4517 y Fk(1)1754 4503 y Fq(\)\()p |
|
1623 Fo(a)1872 4517 y Fk(2)1905 4483 y Fq(^)1913 4503 y Fo(i)g |
|
1624 Fq(+)g Fo(b)2094 4517 y Fk(2)2132 4483 y Fq(^)2133 4503 |
|
1625 y Fo(j)26 b Fq(+)20 b Fo(c)2326 4517 y Fk(2)2368 4479 |
|
1626 y Fq(^)2366 4503 y Fo(k)j Fq(+)d Fo(d)2574 4517 y Fk(2)2614 |
|
1627 4503 y Fq(\))776 4641 y(=)83 b(\()p Fo(a)1013 4655 y |
|
1628 Fk(1)1053 4641 y Fo(d)1100 4655 y Fk(2)1160 4641 y Fq(+)20 |
|
1629 b Fo(b)1290 4655 y Fk(1)1329 4641 y Fo(c)1368 4655 y |
|
1630 Fk(2)1428 4641 y Fl(\000)g Fo(c)1558 4655 y Fk(1)1598 |
|
1631 4641 y Fo(b)1637 4655 y Fk(2)1697 4641 y Fq(+)f Fo(d)1834 |
|
1632 4655 y Fk(1)1874 4641 y Fo(a)1922 4655 y Fk(2)1962 4641 |
|
1633 y Fq(\))p Fo(i)i Fq(+)e(\()p Fo(c)2213 4655 y Fk(1)2254 |
|
1634 4641 y Fo(a)2302 4655 y Fk(2)2361 4641 y Fl(\000)h Fo(a)2500 |
|
1635 4655 y Fk(1)2540 4641 y Fo(c)2579 4655 y Fk(2)2639 4641 |
|
1636 y Fq(+)g Fo(b)2769 4655 y Fk(1)2808 4641 y Fo(d)2855 |
|
1637 4655 y Fk(2)2915 4641 y Fq(+)g Fo(d)3053 4655 y Fk(1)3093 |
|
1638 4641 y Fo(b)3132 4655 y Fk(2)3171 4641 y Fq(\))3205 4620 |
|
1639 y(^)3206 4641 y Fo(j)930 4779 y Fq(+\()p Fo(a)1084 4793 |
|
1640 y Fk(1)1124 4779 y Fo(b)1163 4793 y Fk(2)1222 4779 y |
|
1641 Fl(\000)g Fo(b)1352 4793 y Fk(1)1392 4779 y Fo(a)1440 |
|
1642 4793 y Fk(2)1499 4779 y Fq(+)g Fo(c)1629 4793 y Fk(1)1669 |
|
1643 4779 y Fo(d)1716 4793 y Fk(2)1776 4779 y Fq(+)g Fo(d)1914 |
|
1644 4793 y Fk(1)1954 4779 y Fo(c)1993 4793 y Fk(2)2032 4779 |
|
1645 y Fq(\))2069 4755 y(^)2067 4779 y Fo(k)k Fq(+)c(\()p |
|
1646 Fl(\000)p Fo(a)2383 4793 y Fk(1)2423 4779 y Fo(a)2471 |
|
1647 4793 y Fk(2)2530 4779 y Fl(\000)g Fo(b)2660 4793 y Fk(1)2700 |
|
1648 4779 y Fo(b)2739 4793 y Fk(2)2798 4779 y Fl(\000)g Fo(c)2928 |
|
1649 4793 y Fk(1)2968 4779 y Fo(c)3007 4793 y Fk(2)3067 4779 |
|
1650 y Fq(+)g Fo(d)3205 4793 y Fk(1)3245 4779 y Fo(d)3292 |
|
1651 4793 y Fk(2)3331 4779 y Fq(\))347 b(\(1.1\))21 5018 y(De\014ne)21 |
|
1652 b Fo(v)337 5032 y Fk(1)401 5018 y Fq(=)497 4924 y Fi(h)578 |
|
1653 5018 y Fo(a)626 5032 y Fk(1)749 5018 y Fo(b)788 5032 |
|
1654 y Fk(1)910 5018 y Fo(c)949 5032 y Fk(1)1030 4924 y Fi(i)1070 |
|
1655 4947 y Fh(T)1145 5018 y Fq(and)g Fo(v)1357 5032 y Fk(2)1421 |
|
1656 5018 y Fq(=)1517 4924 y Fi(h)1598 5018 y Fo(a)1646 5032 |
|
1657 y Fk(2)1769 5018 y Fo(b)1808 5032 y Fk(2)1930 5018 y |
|
1658 Fo(c)1969 5032 y Fk(2)2050 4924 y Fi(i)2089 4947 y Fh(T)2145 |
|
1659 5018 y Fq(.)37 b(Then)20 b([Mul)o(])h(equation)g(\(1.1\))h(ma)m(y)g(b)s |
|
1660 (e)e(rewritten)0 5131 y(as)1017 5244 y Fo(q)1058 5258 |
|
1661 y Fk(1)1097 5244 y Fo(q)1138 5258 y Fk(2)1202 5244 y |
|
1662 Fq(=)25 b Fo(d)1345 5258 y Fk(1)1385 5244 y Fo(d)1432 |
|
1663 5258 y Fk(2)1492 5244 y Fq(+)20 b Fo(d)1630 5258 y Fk(1)1669 |
|
1664 5244 y Fo(v)1713 5258 y Fk(2)1773 5244 y Fq(+)g Fo(d)1911 |
|
1665 5258 y Fk(2)1951 5244 y Fo(v)1995 5258 y Fk(1)2054 5244 |
|
1666 y Fl(\000)g(h)q Fo(v)2225 5258 y Fk(1)2264 5244 y Fo(;)15 |
|
1667 b(v)2348 5258 y Fk(2)2388 5244 y Fl(i)21 b Fq(+)f(\()p |
|
1668 Fo(v)2614 5258 y Fk(1)2674 5244 y Fl(\002)f Fo(v)2808 |
|
1669 5258 y Fk(2)2848 5244 y Fq(\))830 b(\(1.2\))p eop |
|
1670 3 2 bop 0 100 a Fn(A.)31 b(S.)f(Ho)s(del:)40 b(Quaternions)29 |
|
1671 b(\(In)m(tro)s(duction\))g Fo(R)q(ev)s(ision)d Fq(:)f(1)p |
|
1672 Fo(:)p Fq(1)436 b Fn(\(c\))31 b(1998)902 b Fq(3)0 399 |
|
1673 y(where)30 b(the)g(cross)h(pro)s(duct)1385 622 y(\()p |
|
1674 Fo(v)1464 636 y Fk(1)1524 622 y Fl(\002)20 b Fo(v)1659 |
|
1675 636 y Fk(2)1699 622 y Fq(\))1765 572 y Fk(\001)1759 622 |
|
1676 y Fq(=)1855 424 y Fi(\014)1855 474 y(\014)1855 524 y(\014)1855 |
|
1677 574 y(\014)1855 624 y(\014)1855 674 y(\014)1855 723 y(\014)1883 |
|
1678 428 y(2)1883 574 y(6)1883 627 y(4)2001 492 y Fq(^)2008 |
|
1679 513 y Fo(i)2167 492 y Fq(^)2168 513 y Fo(j)2328 489 y |
|
1680 Fq(^)2326 513 y Fo(k)1980 625 y(a)2028 639 y Fk(1)2150 |
|
1681 625 y Fo(b)2189 639 y Fk(1)2312 625 y Fo(c)2351 639 y |
|
1682 Fk(1)1980 738 y Fo(a)2028 752 y Fk(2)2150 738 y Fo(b)2189 |
|
1683 752 y Fk(2)2312 738 y Fo(c)2351 752 y Fk(2)2432 428 y |
|
1684 Fi(3)2432 574 y(7)2432 627 y(5)2487 424 y(\014)2487 474 |
|
1685 y(\014)2487 524 y(\014)2487 574 y(\014)2487 624 y(\014)2487 |
|
1686 674 y(\014)2487 723 y(\014)0 881 y Fq(This)29 b(v)m(ector-based)j(in)m |
|
1687 (terpretation)d(will)f(b)s(ecome)j(more)f(imp)s(ortan)m(t)g(in)f |
|
1688 Fl(x)p Fq(1.4.2.)0 1040 y Fr(M-\014le)46 b Fj(qmult)227 |
|
1689 1231 y(function)g(c)h(=)h(qmult\(a,b\))227 1344 y(multiply)e(two)h |
|
1690 (quaternions)0 1534 y Fr(De\014nition)35 b(1.2)46 b Fq(The)26 |
|
1691 b Fg(c)-5 b(onjugate)26 b Fq(of)g(a)h(quaternion)e Fo(q)j |
|
1692 Fq(=)d Fo(a)2077 1514 y Fq(^)2084 1534 y Fo(i)12 b Fq(+)f |
|
1693 Fo(b)2247 1514 y Fq(^)2248 1534 y Fo(j)17 b Fq(+)11 b |
|
1694 Fo(c)2425 1510 y Fq(^)2423 1534 y Fo(k)k Fq(+)c Fo(d)26 |
|
1695 b Fq(is)f Fo(q)2771 1501 y Ff(\003)2836 1534 y Fq(=)g |
|
1696 Fl(\000)p Fo(a)3044 1514 y Fq(^)3051 1534 y Fo(i)11 b |
|
1697 Fl(\000)g Fo(b)3213 1514 y Fq(^)3214 1534 y Fo(j)17 b |
|
1698 Fl(\000)11 b Fo(c)3391 1510 y Fq(^)3389 1534 y Fo(k)k |
|
1699 Fq(+)c Fo(d)p Fq(.)40 b(Notice)0 1664 y(that)35 b Fo(q)s(q)289 |
|
1700 1631 y Ff(\003)361 1664 y Fq(=)d Fo(q)508 1631 y Ff(\003)547 |
|
1701 1664 y Fo(q)k Fq(=)c Fo(a)775 1631 y Fk(2)837 1664 y |
|
1702 Fq(+)23 b Fo(b)970 1631 y Fk(2)1033 1664 y Fq(+)f Fo(c)1165 |
|
1703 1631 y Fk(2)1228 1664 y Fq(+)h Fo(d)1369 1631 y Fk(2)1447 |
|
1704 1614 y(\001)1441 1664 y Fq(=)32 b Fl(j)p Fo(q)s Fl(j)1639 |
|
1705 1622 y Fk(2)1678 1664 y Fq(.)54 b(F)-8 b(or)35 b(quaternions)f |
|
1706 Fo(q)j Fq(with)c Fo(q)s(q)2799 1631 y Ff(\003)2871 1664 |
|
1707 y Fl(6)p Fq(=)f(0)j(w)m(e)g(de\014ne)f(the)h Fg(inverse)0 |
|
1708 1821 y(quaternion)c Fo(q)498 1783 y Ff(\000)p Fk(1)618 |
|
1709 1821 y Fq(=)746 1759 y Fo(q)790 1726 y Ff(\003)p 724 |
|
1710 1799 128 4 v 724 1883 a Fo(q)s(q)812 1857 y Ff(\003)861 |
|
1711 1821 y Fq(.)40 b(Notice)32 b(that)f Fo(q)s(q)1497 1788 |
|
1712 y Ff(\000)p Fk(1)1616 1821 y Fq(=)25 b Fo(q)1756 1788 |
|
1713 y Ff(\000)p Fk(1)1850 1821 y Fo(q)j Fq(=)d(1.)0 2037 |
|
1714 y Fr(M-\014le)46 b Fj(qinv)59 b Fq(Compute)30 b(the)h(in)m(v)m(erse)f |
|
1715 (of)g(a)h(quaternion)227 2228 y Fj(function)46 b(b)h(=)h(qinv\(a\))227 |
|
1716 2341 y(return)e(the)h(inverse)f(of)h(a)h(quaternion)227 |
|
1717 2454 y(a)g(=)95 b([w,x,y,z])45 b(=)j(w*i)f(+)g(x*j)g(+)g(y*k)g(+)h(z) |
|
1718 227 2567 y(qmult\(a,qinv\(a\)\))c(=)j(1)h(=)f([0)g(0)h(0)f(1])0 |
|
1719 2757 y Fr(Example)34 b(1.1)46 b Fq(Compute)30 b(and)f(m)m(ultiply)f |
|
1720 (the)j(in)m(v)m(erse)f(quaternion:)0 2916 y Fj(octave:1>)45 |
|
1721 b(q)j(=)f(quaternion\(1,2,3,4\);)42 b(qi)48 b(=)f(qinv\(q\))0 |
|
1722 3029 y(qi)g(=)h(-0.033333)93 b(-0.066667)g(-0.100000)140 |
|
1723 b(0.133333)0 3142 y(octave:2>)45 b(qmult\(qi,q\))0 3255 |
|
1724 y(ans)i(=)g(0)96 b(0)f(0)g(1)0 3368 y(octave:3>)45 b(qmult\(q,qi\))0 |
|
1725 3481 y(ans)i(=)g(0)96 b(0)f(0)g(1)0 3640 y Fq(In)30 b(b)s(oth)f(cases)j |
|
1726 (the)e(pro)s(duct)f(is)h(the)g(iden)m(tiy)f(quaternion)h(0)2101 |
|
1727 3619 y(^)2108 3640 y Fo(i)21 b Fq(+)f(0)2295 3619 y(^)2296 |
|
1728 3640 y Fo(j)26 b Fq(+)20 b(0)2497 3616 y(^)2495 3640 |
|
1729 y Fo(k)k Fq(+)19 b(1)26 b(=)f(1.)0 3878 y Fm(1.3)112 |
|
1730 b(Quaternions)38 b(as)g(rotations)0 4062 y Fr(De\014nition)d(1.3)46 |
|
1731 b Fq(A)31 b Fg(unit)h(quaternion)g Fo(q)c Fq(=)d Fo(a)1617 |
|
1732 4041 y Fq(^)1624 4062 y Fo(i)20 b Fq(+)g Fo(b)1804 4041 |
|
1733 y Fq(^)1805 4062 y Fo(j)26 b Fq(+)20 b Fo(c)2000 4038 |
|
1734 y Fq(^)1998 4062 y Fo(k)k Fq(+)19 b Fo(d)31 b Fq(satis\014es)2572 |
|
1735 3964 y Fi(\015)2572 4014 y(\015)2572 4064 y(\015)2618 |
|
1736 3967 y(h)2699 4062 y Fo(a)83 b(b)g(c)g(d)3163 3967 y |
|
1737 Fi(i)3202 3964 y(\015)3202 4014 y(\015)3202 4064 y(\015)3248 |
|
1738 4118 y Fk(2)3313 4062 y Fq(=)25 b(1.)0 4254 y Fr(Remark)34 |
|
1739 b(1.2)46 b Fq(Unit)40 b(quaternions)f(ma)m(y)h(b)s(e)g(considered)f(as) |
|
1740 h(represen)m(tations)g(of)h(a)f(rotation)h(of)f Fo(\022)i |
|
1741 Fq(degrees)0 4367 y(ab)s(out)f(a)g(giv)m(en)g(unit)f(v)m(ector)j |
|
1742 Fo(v)h Fq(\(see)e(routine)e Fj(quaternion)p Fq(\).)70 |
|
1743 b(The)41 b(transformation)f(is)g(accomplished)g(b)m(y)0 |
|
1744 4496 y(m)m(ultiplying)27 b Fo(v)529 4510 y Fh(r)592 4496 |
|
1745 y Fq(=)e Fo(q)s(v)s(q)823 4463 y Ff(\000)p Fk(1)917 4496 |
|
1746 y Fq(,)31 b(where)f Fo(v)e Fq(=)1404 4402 y Fi(h)1485 |
|
1747 4496 y Fo(x)83 b(y)j(z)h Fq(0)1967 4402 y Fi(i)2006 4496 |
|
1748 y Fq(.)0 4684 y(With)30 b(this)f(in)m(terpretation,)h(unit)f |
|
1749 (quaternions)g(ma)m(y)i(b)s(e)f(written)f(as)890 4964 |
|
1750 y Fo(q)f Fq(=)1055 4870 y Fi(\020)1105 4964 y Fo(ai)21 |
|
1751 b Fq(+)e Fo(b)1333 4944 y Fq(^)1334 4964 y Fo(j)26 b |
|
1752 Fq(+)20 b Fo(c)1529 4940 y Fq(^)1527 4964 y Fo(k)1578 |
|
1753 4870 y Fi(\021)1643 4964 y Fq(sin)n(\()p Fo(\022)s(=)p |
|
1754 Fq(2\))h(+)f(cos)q(\()p Fo(\022)s(=)p Fq(2\))2432 4914 |
|
1755 y Fk(\001)2426 4964 y Fq(=)2522 4771 y Fi(0)2522 4917 |
|
1756 y(B)2522 4970 y(@)2594 4771 y(2)2594 4917 y(6)2594 4970 |
|
1757 y(4)2691 4851 y Fo(a)2696 4964 y(b)2696 5077 y(c)2781 |
|
1758 4771 y Fi(3)2781 4917 y(7)2781 4970 y(5)2851 4964 y Fo(;)15 |
|
1759 b(\022)2937 4771 y Fi(1)2937 4917 y(C)2937 4970 y(A)3713 |
|
1760 4964 y Fq(\(1.3\))0 5279 y(Notice)26 b(that)f(this)f(implies)e(that) |
|
1761 1137 5185 y Fi(h)1218 5279 y Fo(a)83 b(b)g(c)1552 5185 |
|
1762 y Fi(i)1615 5279 y Fq(is)24 b(also)h(a)g(unit)e(v)m(ector.)41 |
|
1763 b(This)23 b(is)g(consisten)m(t)j(with)d(m)m(ultiplication)0 |
|
1764 5407 y(b)m(y)30 b(the)h(iden)m(tit)m(y)f(quaterion)g |
|
1765 Fo(q)e Fq(=)d(1,)31 b(since)e(cos)q(\(0\))d(=)f(1)31 |
|
1766 b(and)f(sin)o(\(0\))c(=)f(0.)p eop |
|
1767 4 3 bop 0 100 a Fn(A.)31 b(S.)f(Ho)s(del:)g(Quaternions)f(\(In)m(tro)s |
|
1768 (duction\))g Fo(R)q(ev)s(ision)d Fq(:)f(1)p Fo(:)p Fq(1)439 |
|
1769 b Fn(\(c\))32 b(1998)908 b Fq(4)0 399 y Fr(Example)34 |
|
1770 b(1.2)46 b Fq(Unit)33 b(quaternions)g(ma)m(y)h(b)s(e)g(m)m(ultiplied)c |
|
1771 (to)35 b(obtain)e(a)i(single)e(equiv)-5 b(alen)m(t)33 |
|
1772 b(co)s(ordinate)h(rota-)0 511 y(tion.)47 b(Let)33 b Fo(q)435 |
|
1773 525 y Fk(3)506 511 y Fq(b)s(e)f(a)h(90)800 478 y Ff(\016)872 |
|
1774 511 y Fq(rotation)g(ab)s(out)f(the)h Fo(x)p Fl(\000)p |
|
1775 Fq(axis.)46 b(F)-8 b(ollo)m(w)33 b(this)e(rotation)i(b)m(y)g |
|
1776 Fo(q)2982 525 y Fk(2)3021 511 y Fq(,)g(a)g(90)3247 478 |
|
1777 y Ff(\016)3319 511 y Fq(rotation)g(ab)s(out)0 624 y(the)k(\(new\))g |
|
1778 Fo(y)i Fq(axis.)60 b(Finally)-8 b(,)37 b(follo)m(w)f(this)g(rotation)h |
|
1779 (b)m(y)f Fo(q)2067 638 y Fk(1)2106 624 y Fq(,)j(a)e(90)2342 |
|
1780 591 y Ff(\016)2419 624 y Fq(rotation)g(ab)s(out)g(the)g(\(newly)f |
|
1781 (revised\))g Fo(z)0 737 y Fq(axis.)k(Then)30 b Fo(q)e |
|
1782 Fq(=)d Fo(q)664 751 y Fk(1)703 737 y Fo(q)744 751 y Fk(2)783 |
|
1783 737 y Fo(q)824 751 y Fk(3)893 737 y Fq(is)k(a)i(90)g(degree)g(rotation) |
|
1784 g(ab)s(out)f(the)h(original)d Fo(y)s Fq(-axis.)0 925 |
|
1785 y Fj(octave:1>)45 b(degrees)h(=)i(pi/180;)0 1038 y(octave:2>)d(q1)i(=)h |
|
1786 (quaternion\([0,0,1],90*de)o(gree)o(s\);)0 1151 y(octave:3>)d(q2)i(=)h |
|
1787 (quaternion\([0,1,0],90*de)o(gree)o(s\);)0 1264 y(octave:4>)d(q3)i(=)h |
|
1788 (quaternion\([1,0,0],90*de)o(gree)o(s\);)0 1377 y(octave:5>)d(q)j(=)f |
|
1789 (qmult\(q1,qmult\(q2,q3\)\);)0 1489 y(octave:6>)e([vv,th])h(=)i |
|
1790 (quaternion\(q\))0 1602 y(vv)f(=)h(0)f(1)h(0)0 1715 y(th)f(=)h(1.5708)0 |
|
1791 1828 y(octave:7>)d(th/degrees)0 1941 y(ans)i(=)g(90.000)118 |
|
1792 2154 y Fq(The)26 b(rotation)g(ab)s(out)g(a)h(v)m(ector)h(axis)e(in)m |
|
1793 (terpretation)f(of)i(quaternions)e(requires)g(care:)39 |
|
1794 b(the)26 b(axis)g(of)h(rotation)0 2267 y(is)40 b(tak)m(en)j(based)e(on) |
|
1795 h(the)f(co)s(ordinate)g(frame)h(for)f(whic)m(h)f(the)i(quaternion)e(w)m |
|
1796 (as)i(written.)73 b(F)-8 b(or)42 b(example,)j(a)0 2379 |
|
1797 y(rotation)30 b(around)e(the)i(inertial)d Fo(y)s Fq(-axis)i(follo)m(w)m |
|
1798 (ed)g(b)m(y)g(a)h(rotation)g(around)e(the)i(inertial)d |
|
1799 Fo(x)j Fq(axis)e(can)i(b)s(e)f(written)0 2492 y(as)949 |
|
1800 2623 y Fo(q)f Fq(=)d Fo(q)1155 2637 y Fh(x)1199 2623 |
|
1801 y Fo(q)1240 2637 y Fh(y)1306 2623 y Fq(=)1402 2504 y |
|
1802 Fi(\022)1463 2529 y(h)1544 2623 y Fq(1)83 b(0)h(0)1888 |
|
1803 2529 y Fi(i)1927 2552 y Fh(T)1982 2623 y Fo(;)15 b(\022)2065 |
|
1804 2637 y Fh(x)2109 2504 y Fi(\023)g(\022)2246 2529 y(h)2327 |
|
1805 2623 y Fq(0)83 b(1)h(0)2671 2529 y Fi(i)2710 2552 y Fh(T)2765 |
|
1806 2623 y Fo(;)15 b(\022)2848 2637 y Fh(y)2890 2504 y Fi(\023)0 |
|
1807 2825 y Fq(This)31 b(is)i(inconsisten)m(t)f(with)g(the)h(de\014nition)e |
|
1808 (of)j(Euler)d(angles,)k(in)c(whic)m(h)h(eac)m(h)j(angle)e(is)f |
|
1809 (de\014ned)g(b)m(y)h(a)h(frame)0 2938 y(based)41 b(up)s(on)f(the)i |
|
1810 (previous)e(rotation.)75 b(This)40 b(problem)g(is)h(addressed)f(b)m(y)i |
|
1811 (co)s(ordinate)f(transformation)g(b)m(y)0 3051 y(quaternions:)0 |
|
1812 3264 y Fr(M-\014le)46 b Fj(qtrans)59 b Fq(T)-8 b(ransform)29 |
|
1813 b(a)i(quaternion)e(in)g(one)i(frame)f(to)h(the)g(co)s(ordinate)f(basis) |
|
1814 f(of)i(another)f(frame.)275 3489 y Fj(function)46 b(v)h(=)g |
|
1815 (qtrans\(v,q\))275 3602 y(transform)e(the)i(vector)f(v)i(\(in)f |
|
1816 (quaternion)e(form\))h(by)h(the)g(quaternion)e(q;)275 |
|
1817 3714 y(v)i(=)h([x)f(y)h(z)f(0],)g(q)g(=)h(transformation)c(quaternion) |
|
1818 275 3827 y(returns)i(v)h(=)h(q*v/q)0 4052 y Fr(Remark)34 |
|
1819 b(1.3)46 b Fq(Giv)m(en)34 b(a)h(quaternion)e Fo(q)1425 |
|
1820 4067 y Fh(f)1504 4052 y Fq(describing)f(the)j(rotation)f(from)g(an)g |
|
1821 (inertial)e(frame)i(\()p Fo(x)3463 4066 y Fk(1)3503 4052 |
|
1822 y Fo(;)15 b(y)3588 4066 y Fk(1)3628 4052 y Fo(;)g(z)3710 |
|
1823 4066 y Fk(1)3750 4052 y Fq(\))34 b(to)0 4165 y(second)24 |
|
1824 b(frame)f(\()p Fo(x)622 4179 y Fk(2)662 4165 y Fo(;)15 |
|
1825 b(y)747 4179 y Fk(2)787 4165 y Fo(;)g(z)869 4179 y Fk(2)909 |
|
1826 4165 y Fq(\),)25 b(a)f(quaternion)f Fo(q)1555 4179 y |
|
1827 Fh(r)1616 4165 y Fq(de\014ned)f(in)h(the)h(second)f(frame)h(ma)m(y)g(b) |
|
1828 s(e)f(applied)f(b)m(y)h(m)m(ultiplying)0 4278 y Fo(q)41 |
|
1829 4293 y Fh(f)86 4278 y Fo(q)127 4292 y Fh(r)164 4278 y |
|
1830 Fo(q)205 4293 y Fh(f)250 4245 y Ff(\000)p Fk(1)345 4278 |
|
1831 y Fq(:)111 4466 y(1.)46 b(T)-8 b(ransform)30 b(\(rotate\))i(frame)f(2)f |
|
1832 (\()p Fo(x)1424 4480 y Fk(2)1464 4466 y Fo(;)15 b(y)1549 |
|
1833 4480 y Fk(2)1589 4466 y Fo(;)g(z)1671 4480 y Fk(2)1711 |
|
1834 4466 y Fq(\))30 b(bac)m(k)h(to)h(the)e(inertial)e(frame.)111 |
|
1835 4653 y(2.)46 b(P)m(erform)31 b(the)f(rotation)h Fo(q)1124 |
|
1836 4667 y Fh(r)1161 4653 y Fq(.)111 4841 y(3.)46 b(Rotate)33 |
|
1837 b(bac)m(k)e(to)g(the)f(second)h(frame)f(via)g Fo(q)1745 |
|
1838 4856 y Fh(f)1790 4841 y Fq(.)0 5074 y(That)40 b(is,)h(if)e |
|
1839 Fo(q)499 5088 y Fh(r)577 5074 y Fq(=)689 4955 y Fi(\022)750 |
|
1840 4980 y(h)831 5074 y Fq(0)83 b(1)h(0)1175 4980 y Fi(i)1214 |
|
1841 5003 y Fh(T)1269 5074 y Fo(;)15 b(\022)1352 5088 y Fh(r)1390 |
|
1842 4955 y Fi(\023)1491 5074 y Fq(is)38 b(a)i(rotation)h(ab)s(out)e(the)h |
|
1843 Fo(y)j Fq(axis)c(in)f(the)i(frame)g(\()p Fo(x)3385 5088 |
|
1844 y Fk(2)3425 5074 y Fo(;)15 b(y)3510 5088 y Fk(2)3549 |
|
1845 5074 y Fo(;)g(z)3631 5088 y Fk(2)3671 5074 y Fq(\),)43 |
|
1846 b(the)0 5235 y(quaternion)29 b Fo(q)498 5250 y Fh(f)543 |
|
1847 5235 y Fo(q)584 5249 y Fh(r)622 5235 y Fo(q)663 5250 |
|
1848 y Fh(f)708 5202 y Ff(\000)p Fk(1)832 5235 y Fq(is)h(the)g(equiv)-5 |
|
1849 b(alen)m(t)30 b(rotation)h(in)e(the)i(frame)f(\()p Fo(x)2466 |
|
1850 5249 y Fk(1)2506 5235 y Fo(;)15 b(y)2591 5249 y Fk(1)2630 |
|
1851 5235 y Fo(;)g(z)2712 5249 y Fk(1)2752 5235 y Fq(\).)p |
|
1852 eop |
|
1853 5 4 bop 0 100 a Fn(A.)31 b(S.)f(Ho)s(del:)40 b(Quaternions)29 |
|
1854 b(\(In)m(tro)s(duction\))g Fo(R)q(ev)s(ision)d Fq(:)f(1)p |
|
1855 Fo(:)p Fq(1)436 b Fn(\(c\))31 b(1998)902 b Fq(5)0 399 |
|
1856 y Fr(Example)34 b(1.3)46 b(Quaternion)27 b(algebra)d |
|
1857 Fl(\000)p Fq(90)1672 366 y Ff(\016)1736 399 y Fq(rotation)h(ab)s(out)e |
|
1858 Fo(x)h Fq(follo)m(w)m(ed)g(b)m(y)g(90)2963 366 y Ff(\016)3028 |
|
1859 399 y Fq(rotation)g(ab)s(out)g(revised)0 522 y Fo(y)33 |
|
1860 b Fq(and)d Fo(z)k Fq(axes)d(is)f(equiv)-5 b(alen)m(t)30 |
|
1861 b(to)h(a)g(rotation)f(ab)s(out)g(the)2007 428 y Fi(h)2088 |
|
1862 522 y Fq(1)83 b(1)h(1)2432 428 y Fi(i)2501 522 y Fq(v)m(ector.)0 |
|
1863 711 y Fj(qx)95 b(=)47 b(quaternion\([1,0,0],-pi/2\);)184 |
|
1864 b(#)48 b(elementary)d(rotations)0 824 y(qy1)i(=)g |
|
1865 (quaternion\([0,1,0],pi/2\);)0 936 y(qz2)g(=)g |
|
1866 (quaternion\([0,0,1],pi/2\);)0 1162 y(qyi)g(=)g(qtrans\(qy1,qx\);)712 |
|
1867 b(#)48 b(transform)d(back)i(to)g(original)e(coordinates)0 |
|
1868 1275 y(qzi)i(=)g(qtrans\(qtrans\(qz2,qy1\),qx\))o(;)0 |
|
1869 1388 y(qzi2=)f(qtrans\(qz2,qyi\);)664 b(#)48 b(NOT)f(THE)f(SAME)h(as)g |
|
1870 (qzi!)0 1501 y(qzi3=)f(qtrans\(qz2,qmult\(qyi,qx\)\);)184 |
|
1871 b(#)48 b(This)e(matches)94 b(qzi)0 1727 y([qyiv,thyi])45 |
|
1872 b(=)i(quaternion\(qyi\))330 b(#)48 b(check)e(vectors,)g(angles)0 |
|
1873 1840 y([qziv,thzi])f(=)i(quaternion\(qzi\))0 1953 y([qzi2v,thz2i])d(=)k |
|
1874 (quaternion\(qzi2\))0 2066 y([qzi3v,thz3i])c(=)k(quaternion\(qzi3\))0 |
|
1875 2291 y(qtot)f(=)g(qmult\(qzi,qmult\(qyi,qx\)\))0 2404 |
|
1876 y(qtotchk)f(=)h(qmult\(qx,)f(qmult\(qy1,qz2\)\))118 2582 |
|
1877 y Fq(Output:)0 2741 y Fj(qyiv)h(=)g(0.00000)141 b(0.00000)94 |
|
1878 b(-1.00000)0 2854 y(thyi)47 b(=)g(1.5708)0 3013 y Fo(q)41 |
|
1879 3027 y Fh(y)76 3036 y Fe(1)145 3013 y Fq(in)29 b(the)h |
|
1880 Fo(q)448 3027 y Fh(x)522 3013 y Fq(frame)g(is)g(equiv)-5 |
|
1881 b(alen)m(t)29 b(to)j(a)e(rotation)h(ab)s(out)f(the)h(original)d |
|
1882 Fl(\000)p Fo(z)35 b Fq(axis.)0 3172 y Fj(qziv)47 b(=)g(1.0000e+00)141 |
|
1883 b(1.5701e-16)f(3.4863e-32)0 3285 y(thzi)47 b(=)g(1.5708)0 |
|
1884 3398 y(qzi2v)f(=)i(1.5701e-16)140 b(-1.5701e-16)188 b(1.0000e+00)0 |
|
1885 3511 y(thz2i)46 b(=)i(1.5708)0 3624 y(qzi3v)e(=)i(1.0000e+00)140 |
|
1886 b(1.9626e-16)h(3.9252e-17)0 3737 y(thz3i)46 b(=)i(1.5708)0 |
|
1887 3896 y Fq(One)29 b(ma)m(y)h(b)s(e)f(tempted)g(to)h(view)f |
|
1888 Fo(q)1227 3910 y Fh(y)1262 3920 y Fd(i)1321 3896 y Fq(as)h(the)g |
|
1889 (rotation)f(to)i(the)e(basis)f(frame)i(of)f Fo(q)2821 |
|
1890 3910 y Fh(z)2854 3919 y Fe(2)2892 3896 y Fq(,)h(but)f(this)f(is)h |
|
1891 (incorrect.)40 b Fo(q)3835 3910 y Fh(y)3870 3920 y Fd(i)0 |
|
1892 4009 y Fq(merely)33 b(represen)m(ts)g(the)g(rotation)h |
|
1893 Fo(q)1282 4023 y Fh(y)1317 4032 y Fe(1)1388 4009 y Fq(in)e(the)i |
|
1894 (reference)f(frame;)i(b)s(oth)e(rotations)g Fo(q)2972 |
|
1895 4023 y Fh(x)3049 4009 y Fq(and)g Fo(q)3270 4023 y Fh(y)3305 |
|
1896 4033 y Fd(i)3368 4009 y Fq(m)m(ust)g(b)s(e)g(used)0 4122 |
|
1897 y(to)e(bac)m(k-transform)g Fo(q)782 4136 y Fh(z)815 4145 |
|
1898 y Fe(2)883 4122 y Fq(in)m(to)g(the)f(reference)h(frame.)41 |
|
1899 b(This)28 b(is)i(sho)m(wn)f(as)i(follo)m(ws:)611 4292 |
|
1900 y Fo(q)652 4306 y Fh(y)687 4316 y Fd(i)800 4292 y Fq(=)83 |
|
1901 b Fo(q)995 4306 y Fh(x)1038 4292 y Fo(q)1079 4306 y Fh(y)1114 |
|
1902 4315 y Fe(1)1153 4292 y Fo(q)1194 4306 y Fh(x)1237 4254 |
|
1903 y Ff(\000)p Fk(1)613 4449 y Fo(q)654 4463 y Fh(z)687 |
|
1904 4473 y Fd(i)800 4449 y Fq(=)g Fo(q)995 4463 y Fh(x)1053 |
|
1905 4355 y Fi(\020)1103 4449 y Fo(q)1144 4463 y Fh(y)1179 |
|
1906 4472 y Fe(1)1217 4449 y Fo(q)1258 4463 y Fh(z)1291 4472 |
|
1907 y Fe(2)1329 4449 y Fo(q)1370 4463 y Fh(y)1405 4472 y |
|
1908 Fe(1)1444 4411 y Ff(\000)p Fk(1)1538 4355 y Fi(\021)1603 |
|
1909 4449 y Fo(q)1644 4463 y Fh(x)1687 4411 y Ff(\000)p Fk(1)578 |
|
1910 4614 y Fo(q)619 4628 y Fh(z)652 4638 y Fd(i)678 4628 |
|
1911 y Fk(2)800 4614 y Fq(=)g Fo(q)995 4628 y Fh(y)1030 4638 |
|
1912 y Fd(i)1060 4614 y Fo(q)1101 4628 y Fh(z)1134 4637 y |
|
1913 Fe(2)1172 4614 y Fo(q)1213 4628 y Fh(y)1248 4638 y Fd(i)1278 |
|
1914 4577 y Ff(\000)p Fk(1)800 4788 y Fq(=)g Fo(q)995 4802 |
|
1915 y Fh(x)1038 4788 y Fo(q)1079 4802 y Fh(y)1114 4811 y |
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1916 Fe(1)1153 4788 y Fo(q)1194 4802 y Fh(x)1237 4751 y Ff(\000)p |
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1917 Fk(1)1331 4788 y Fo(q)1372 4802 y Fh(z)1405 4811 y Fe(2)1443 |
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1918 4694 y Fi(\020)1493 4788 y Fo(q)1534 4802 y Fh(x)1577 |
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1919 4788 y Fo(q)1618 4802 y Fh(y)1653 4811 y Fe(1)1692 4788 |
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1920 y Fo(q)1733 4802 y Fh(x)1776 4751 y Ff(\000)p Fk(1)1870 |
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1921 4694 y Fi(\021)1920 4717 y Ff(\000)p Fk(1)2040 4788 y |
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1922 Fq(=)25 b Fo(q)2177 4802 y Fh(x)2220 4788 y Fo(q)2261 |
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1923 4802 y Fh(y)2296 4811 y Fe(1)2334 4788 y Fo(q)2375 4802 |
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1924 y Fh(x)2419 4751 y Ff(\000)p Fk(1)2513 4788 y Fo(q)2554 |
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1925 4802 y Fh(z)2587 4811 y Fe(2)2625 4788 y Fo(q)2666 4802 |
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1926 y Fh(x)2710 4788 y Fo(q)2751 4802 y Fh(y)2786 4811 y |
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1927 Fe(1)2824 4751 y Ff(\000)p Fk(1)2918 4788 y Fo(q)2959 |
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1928 4802 y Fh(x)3003 4751 y Ff(\000)p Fk(1)3122 4788 y Fl(6)p |
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1929 Fq(=)g Fo(q)3259 4802 y Fh(z)3292 4812 y Fd(i)578 4958 |
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1930 y Fo(q)619 4972 y Fh(z)652 4982 y Fd(i)678 4972 y Fk(3)800 |
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1931 4958 y Fq(=)83 b(\()p Fo(q)1030 4972 y Fh(y)1065 4982 |
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1932 y Fd(i)1095 4958 y Fo(q)1136 4972 y Fh(x)1180 4958 y |
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1933 Fq(\))15 b Fo(q)1271 4972 y Fh(z)1304 4981 y Fe(2)1342 |
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1934 4958 y Fq(\()q Fo(q)1419 4972 y Fh(y)1454 4982 y Fd(i)1484 |
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1935 4958 y Fo(q)1525 4972 y Fh(x)1568 4958 y Fq(\))1603 4916 |
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1936 y Ff(\000)p Fk(1)1723 4958 y Fq(=)25 b Fo(q)1860 4972 |
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1937 y Fh(y)1895 4981 y Fe(1)1933 4958 y Fo(q)1974 4972 y |
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1938 Fh(x)2018 4958 y Fo(q)2059 4972 y Fh(z)2092 4981 y Fe(2)2130 |
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1939 4958 y Fo(q)2171 4972 y Fh(x)2214 4921 y Ff(\000)p Fk(1)2309 |
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1940 4958 y Fo(q)2350 4972 y Fh(y)2385 4981 y Fe(1)2423 4921 |
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1941 y Ff(\000)p Fk(1)2542 4958 y Fq(=)g Fo(q)2679 4972 y |
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1942 Fh(z)2712 4982 y Fd(i)0 5274 y Fj(qtot)47 b(=)g(-5.5511e-17)188 |
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1943 b(7.0711e-01)g(1.2326e-32)g(7.0711e-01)0 5387 y(qtotchk)46 |
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1944 b(=)h(-5.5511e-17)188 b(7.0711e-01)g(5.5511e-17)h(7.0711e-01)p |
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1945 eop |
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1946 6 5 bop 0 100 a Fn(A.)31 b(S.)f(Ho)s(del:)40 b(Quaternions)29 |
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1947 b(\(In)m(tro)s(duction\))g Fo(R)q(ev)s(ision)d Fq(:)f(1)p |
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1948 Fo(:)p Fq(1)436 b Fn(\(c\))31 b(1998)902 b Fq(6)0 399 |
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1949 y Fm(1.4)112 b(Application)35 b(of)j(quaternions)g(in)e(co)s(ordinate)i |
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1950 (frame)f(transformations)0 570 y Fq(In)m(terpretations)30 |
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1951 b(of)h(quaternions.)0 810 y Fr(1.4.1)105 b(Euler)35 b(angles)0 |
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1952 982 y Fq(\(y)m(a)m(w-pitc)m(h-roll\))71 b(ma)m(y)36 b(b)s(e)f(used)g |
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1953 (to)h(construct)g(an)f(inertial-to-b)s(o)s(dy)e(quaterion)i |
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1954 Fo(q)2995 997 y Fh(bi)3088 982 y Fq(as)h(follo)m(ws.)55 |
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1955 b(The)35 b(y)m(a)m(w)0 1095 y(rotation)c(is)e(ab)s(out)h(the)h |
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1956 Fo(z)j Fq(axis)c(in)f(the)i(inertial)d(frame)1508 1299 |
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1957 y Fo(q)1549 1313 y Fh(y)1615 1299 y Fq(=)1711 1205 y |
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1958 Fi(\020h)1841 1299 y Fq(0)84 b(0)f(1)2185 1205 y Fi(i)2240 |
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1959 1299 y Fo(;)15 b( )2342 1205 y Fi(\021)0 1519 y Fq(The)30 |
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1960 b(pitc)m(h)g(rotation)g(is)g(ab)s(out)g(the)g Fo(y)k |
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1961 Fq(axis)29 b(in)h(frame)g(1)h(\()p Fo(y)s Fq(-axis)f(after)h(the)f(y)m |
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1962 (a)m(w)i(rotation)e(is)g(made\))1500 1739 y Fo(q)1541 |
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1963 1753 y Fh(p)1577 1762 y Fe(1)1640 1739 y Fq(=)1736 1644 |
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1964 y Fi(\020h)1866 1739 y Fq(0)84 b(1)f(0)2210 1644 y Fi(i)2265 |
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1965 1739 y Fo(;)15 b(\022)2351 1644 y Fi(\021)0 1953 y Fq(The)30 |
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1966 b(roll)f(rotation)h(is)g(made)g(ab)s(out)g(the)h Fo(x)f |
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1967 Fq(axis)g(in)f(frame)h(2)1495 2158 y Fo(q)1536 2172 y |
|
1968 Fh(r)1568 2181 y Fe(2)1631 2158 y Fq(=)1727 2063 y Fi(\020h)1857 |
|
1969 2158 y Fq(1)84 b(0)f(0)2201 2063 y Fi(i)2256 2158 y Fo(;)15 |
|
1970 b(')2355 2063 y Fi(\021)0 2372 y Fq(In)28 b(order)g(to)h(construct)g(a) |
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1971 g(single)e(quaterion)h Fo(q)1626 2387 y Fh(bi)1712 2372 |
|
1972 y Fq(relating)g(the)g(inertial)f(to)i(b)s(o)s(dy)e(axis)h(rotation,)h |
|
1973 (rotations)g Fo(q)3826 2386 y Fh(p)3862 2395 y Fe(1)0 |
|
1974 2485 y Fq(and)h Fo(q)218 2499 y Fh(r)250 2508 y Fe(2)318 |
|
1975 2485 y Fq(m)m(ust)g(b)s(e)g(expressed)g(in)f(the)i(inertial)d(frame:) |
|
1976 1199 2689 y Fo(q)1240 2703 y Fh(p)1363 2689 y Fq(=)82 |
|
1977 b Fo(q)1557 2703 y Fh(y)1598 2689 y Fo(q)1639 2703 y |
|
1978 Fh(p)1675 2712 y Fe(1)1713 2689 y Fo(q)1754 2703 y Fh(y)1795 |
|
1979 2652 y Ff(\000)p Fk(1)1201 2827 y Fo(q)1242 2841 y Fh(r)1363 |
|
1980 2827 y Fq(=)g Fo(q)1557 2841 y Fh(y)1598 2827 y Fo(q)1639 |
|
1981 2841 y Fh(r)1671 2850 y Fe(1)1710 2827 y Fo(q)1751 2841 |
|
1982 y Fh(y)1792 2790 y Ff(\000)p Fk(1)1911 2827 y Fq(=)25 |
|
1983 b Fo(q)2048 2841 y Fh(y)2089 2827 y Fo(q)2130 2841 y |
|
1984 Fh(p)2166 2850 y Fe(1)2204 2827 y Fo(q)2245 2841 y Fh(r)2277 |
|
1985 2850 y Fe(2)2315 2827 y Fo(q)2356 2841 y Fh(p)2392 2850 |
|
1986 y Fe(1)2430 2790 y Ff(\000)p Fk(1)2524 2827 y Fo(q)2565 |
|
1987 2841 y Fh(y)2606 2790 y Ff(\000)p Fk(1)0 3032 y Fq(and)30 |
|
1988 b(so)756 3144 y Fo(q)797 3159 y Fh(bi)881 3144 y Fq(=)24 |
|
1989 b Fo(q)1017 3158 y Fh(r)1055 3144 y Fo(q)1096 3159 y |
|
1990 Fh(b)1130 3144 y Fo(q)1171 3158 y Fh(y)1237 3144 y Fq(=)1333 |
|
1991 3050 y Fi(\020)1383 3144 y Fo(q)1424 3158 y Fh(y)1465 |
|
1992 3144 y Fo(q)1506 3158 y Fh(p)1542 3167 y Fe(1)1580 3144 |
|
1993 y Fo(q)1621 3158 y Fh(r)1653 3167 y Fe(2)1691 3144 y |
|
1994 Fo(q)1732 3158 y Fh(p)1768 3167 y Fe(1)1806 3107 y Ff(\000)p |
|
1995 Fk(1)1900 3144 y Fo(q)1941 3158 y Fh(y)1982 3107 y Ff(\000)p |
|
1996 Fk(1)2076 3050 y Fi(\021)15 b(\020)2191 3144 y Fo(q)2232 |
|
1997 3158 y Fh(y)2273 3144 y Fo(q)2314 3158 y Fh(p)2350 3167 |
|
1998 y Fe(1)2387 3144 y Fo(q)2428 3158 y Fh(y)2469 3107 y |
|
1999 Ff(\000)p Fk(1)2564 3050 y Fi(\021)2628 3144 y Fo(y)2673 |
|
2000 3158 y Fh(y)2740 3144 y Fq(=)25 b Fo(q)2877 3158 y Fh(y)2918 |
|
2001 3144 y Fo(q)2959 3158 y Fh(p)2995 3167 y Fe(1)3033 3144 |
|
2002 y Fo(q)3074 3158 y Fh(r)3106 3167 y Fe(2)0 3322 y Fq(Notice)30 |
|
2003 b(that)f(the)g(order)g(of)g(the)g(rotations)g(is)f(rev)m(ersed)h(when)e |
|
2004 (the)i(un)m(transformed)f(rotations)h Fo(q)3374 3336 |
|
2005 y Fh(y)3415 3322 y Fq(,)g Fo(q)3510 3336 y Fh(p)3546 |
|
2006 3345 y Fe(1)3584 3322 y Fq(,)h Fo(q)3680 3336 y Fh(r)3712 |
|
2007 3345 y Fe(2)3779 3322 y Fq(are)0 3435 y(used)g(instead)f(of)i |
|
2008 (quaternions)e(transformed)h(to)h(the)f(inertial)f(frame)h |
|
2009 Fo(q)2504 3449 y Fh(r)2541 3435 y Fq(,)h Fo(q)2638 3450 |
|
2010 y Fh(b)2672 3435 y Fq(,)f Fo(q)2768 3449 y Fh(y)2809 |
|
2011 3435 y Fq(.)0 3675 y Fr(1.4.2)105 b(Co)s(ordinate)35 |
|
2012 b(transformation)f(matrices)g(and)h(quaternions)0 3846 |
|
2013 y Fq(A)26 b(unit)e(quaternion)g(\()p Fo(v)s(;)15 b(\022)s |
|
2014 Fq(\))26 b(ma)m(y)g(b)s(e)f(in)m(terpreted)f(as)i(a)g(rotation)g(of)f |
|
2015 Fo(\022)j Fq(degrees)e(ab)s(out)f(the)h(axis)f Fo(v)s |
|
2016 Fq(.)39 b(Application)0 3959 y(of)31 b(this)e(rotation)i(to)g(a)f(v)m |
|
2017 (ector)i Fo(x)f Fq(is)e(illustrated)f(b)s(elo)m(w:)903 |
|
2018 4721 y Fo(v)23 b Fl(\002)d Fo(x)p 3 setlinewidth np 1604 |
|
2019 4343 453 151 0.00 360.00 ellipse st 3 setlinewidth np |
|
2020 1604 5250 a 1604 4344 li st 3 setlinewidth np 1619 4404 |
|
2021 a 1604 4344 li 1588 4404 li st 3 setlinewidth np 1604 |
|
2022 5250 a 1604 4948 li st 3 setlinewidth np 1619 5009 a |
|
2023 1604 4948 li 1588 5009 li st 3 setlinewidth np 1604 5250 |
|
2024 a 1150 4344 li st 3 setlinewidth np 1191 4391 a 1150 |
|
2025 4344 li 1164 4405 li st 3 setlinewidth np 1151 4343 a |
|
2026 1177 4343 li st 3 setlinewidth np 1204 4343 a 1230 4343 |
|
2027 li st 3 setlinewidth np 1257 4343 a 1283 4343 li st 3 |
|
2028 setlinewidth np 1311 4343 a 1337 4343 li st 3 setlinewidth |
|
2029 np 1364 4343 a 1390 4343 li st 3 setlinewidth np 1417 |
|
2030 4343 a 1443 4343 li st 3 setlinewidth np 1471 4343 a |
|
2031 1497 4343 li st 3 setlinewidth np 1524 4343 a 1550 4343 |
|
2032 li st 3 setlinewidth np 1577 4343 a 1603 4343 li st 3 |
|
2033 setlinewidth np 1604 4343 a 1586 4357 li st 3 setlinewidth |
|
2034 np 1570 4371 a 1552 4385 li st 3 setlinewidth np 1536 |
|
2035 4398 a 1518 4412 li st 3 setlinewidth np 1502 4425 a |
|
2036 1484 4439 li st 3 setlinewidth np 1468 4452 a 1450 4466 |
|
2037 li st 3 setlinewidth np 1434 4479 a 1416 4493 li st 3 |
|
2038 setlinewidth np 1452 4446 a 1415 4495 li 1471 4469 li |
|
2039 st 3 setlinewidth np 1604 5250 a 1452 4495 li st 3 setlinewidth |
|
2040 np 1479 4551 a 1452 4495 li 1449 4557 li st 3 setlinewidth |
|
2041 np 2207 4722 a 1641 4571 li st 3 setlinewidth np 1703 |
|
2042 4572 a 1641 4571 li 1695 4601 li st 3 setlinewidth np |
|
2043 1868 4118 a 1377 4382 li st 3 setlinewidth np 1423 4340 |
|
2044 a 1377 4382 li 1437 4367 li st 3 setlinewidth np 1151 |
|
2045 4343 a 1151 4370 li st 3 setlinewidth np 1151 4398 a |
|
2046 1151 4425 li st 3 setlinewidth np 1151 4453 a 1151 4480 |
|
2047 li st 3 setlinewidth np 1151 4508 a 1151 4535 li st 3 |
|
2048 setlinewidth np 1151 4563 a 1151 4590 li st 3 setlinewidth |
|
2049 np 1151 4618 a 1151 4645 li st 3 setlinewidth np 1135 |
|
2050 4586 a 1150 4646 li 1165 4586 li st 1642 5061 a(v)1113 |
|
2051 4343 y(x)1257 4532 y(\022)2246 4759 y Fl(h)p Fo(x;)15 |
|
2052 b(v)s Fl(i)p Fo(v)2246 4872 y Fq(pro)5 b(jection)30 b(of)g |
|
2053 Fo(x)h Fq(on)m(to)g Fo(v)1906 4117 y Fq(pro)5 b(jection)30 |
|
2054 b(of)h Fo(x)f Fq(o\013)h(of)f Fo(v)1906 4230 y(x)20 b |
|
2055 Fl(\000)g(h)p Fo(x;)15 b(v)s Fl(i)p Fo(v)p 3 setlinewidth |
|
2056 np 1481 4060 435 93.73 139.40 arc st 3 setlinewidth np |
|
2057 1391 4506 a 1452 4495 li 1393 4476 li st eop |
|
2058 7 6 bop 0 100 a Fn(A.)31 b(S.)f(Ho)s(del:)40 b(Quaternions)29 |
|
2059 b(\(In)m(tro)s(duction\))g Fo(R)q(ev)s(ision)d Fq(:)f(1)p |
|
2060 Fo(:)p Fq(1)436 b Fn(\(c\))31 b(1998)902 b Fq(7)0 399 |
|
2061 y(The)28 b(v)m(ector)h Fo(x)507 413 y Fh(e)569 399 y |
|
2062 Fq(=)c Fl(h)q Fo(x;)15 b(v)s Fl(i)h Fo(v)31 b Fq(is)c(the)h(pro)5 |
|
2063 b(jection)28 b(of)g Fo(x)g Fq(on)m(to)i Fo(v)h Fq(and)c(is)h(unc)m |
|
2064 (hanged)f(b)m(y)h(the)g(rotation.)41 b(The)27 b(v)m(ector)0 |
|
2065 511 y Fo(x)52 526 y Fh(e)p Ff(?)171 511 y Fq(=)g Fo(x)22 |
|
2066 b Fl(\000)e Fo(x)486 525 y Fh(e)555 511 y Fq(is)31 b(orthogonal)h(to)g |
|
2067 Fo(v)j Fq(and)c(is)g(rotated)i(b)m(y)f Fo(\022)h Fq(degrees)g(ab)s(out) |
|
2068 e Fo(x)p Fq(.)45 b(The)31 b(plane)g(of)h(the)g(rotation)g(is)0 |
|
2069 624 y(spanned)d(b)m(y)h Fo(x)532 639 y Fh(e)p Ff(?)654 |
|
2070 624 y Fq(and)g Fo(v)24 b Fl(\002)c Fo(x)30 b Fq(Th)m(us)f(the)i |
|
2071 (rotated)g(v)m(ector)h Fo(x)20 b Fl(\000)g Fo(r)33 b |
|
2072 Fq(ma)m(y)e(b)s(e)f(written)f(as)1127 782 y Fo(x)1179 |
|
2073 796 y Fh(r)1242 782 y Fq(=)c Fo(x)1390 796 y Fh(e)1447 |
|
2074 782 y Fq(+)20 b(\()p Fo(x)g Fl(\000)g Fo(x)1788 796 y |
|
2075 Fh(e)1825 782 y Fq(\))15 b(cos)q(\()p Fo(\022)s Fq(\))20 |
|
2076 b(+)g(\()p Fo(v)k Fl(\002)c Fo(x)p Fq(\))15 b(sin)o(\()p |
|
2077 Fo(\022)s Fq(\))p Fo(:)940 b Fq(\(1.4\))0 941 y(where)41 |
|
2078 b(the)h(\014rst)f(term)h(re\015ects)g(the)g(unc)m(hanged)f(p)s(ortion)f |
|
2079 (of)i Fo(x)f Fq(and)g(the)h(second)g(t)m(w)m(o)h(terms)f(denote)g(the)0 |
|
2080 1054 y(rotation)31 b(in)e(the)h(plane)g(normal)f(to)i |
|
2081 Fo(v)s Fq(.)118 1166 y(The)c(co)s(ordinate)g(transformation)f(applied)f |
|
2082 (to)j Fo(x)e Fq(ma)m(y)i(b)s(e)f(computed)f(b)m(y)h(applying)e |
|
2083 (equation)i(\(1.4\))i(to)f(the)0 1279 y Fo(x)p Fq(,)j |
|
2084 Fo(y)s Fq(,)f Fo(z)k Fq(unit)29 b(v)m(ectors.)43 b(The)29 |
|
2085 b(ab)s(o)m(v)m(e)j(application)d(in)m(v)m(olv)m(es)h(the)h(rotation)f |
|
2086 (of)h(a)g(v)m(ector)h(ab)s(out)e(an)g(axis.)40 b(Since)730 |
|
2087 1354 y Fi(2)730 1500 y(6)730 1553 y(4)827 1435 y Fo(v)871 |
|
2088 1449 y Fk(1)827 1548 y Fo(v)871 1562 y Fk(2)827 1660 |
|
2089 y Fo(v)871 1674 y Fk(3)952 1354 y Fi(3)952 1500 y(7)952 |
|
2090 1553 y(5)1027 1548 y Fl(\002)1118 1354 y Fi(2)1118 1500 |
|
2091 y(6)1118 1553 y(4)1215 1435 y Fo(x)1217 1548 y(y)1215 |
|
2092 1660 y(x)1309 1354 y Fi(3)1309 1500 y(7)1309 1553 y(5)1389 |
|
2093 1548 y Fq(=)25 b(\()p Fo(v)1564 1562 y Fk(2)1604 1548 |
|
2094 y Fo(z)f Fl(\000)c Fo(v)1805 1562 y Fk(3)1845 1548 y |
|
2095 Fo(y)s Fq(\))1921 1527 y(^)1928 1548 y Fo(i)h Fq(+)e(\()p |
|
2096 Fo(v)2149 1562 y Fk(3)2189 1548 y Fo(x)h Fl(\000)g Fo(v)2396 |
|
2097 1562 y Fk(1)2436 1548 y Fo(z)t Fq(\))2516 1527 y(^)2517 |
|
2098 1548 y Fo(j)26 b Fq(+)20 b(\()p Fo(v)2750 1562 y Fk(1)2790 |
|
2099 1548 y Fo(y)j Fl(\000)d Fo(v)2993 1562 y Fk(2)3033 1548 |
|
2100 y Fo(x)p Fq(\))p Fo(k)0 1814 y Fq(w)m(e)31 b(ma)m(y)g(write)1062 |
|
2101 2082 y Fo(x)1114 2096 y Fh(r)1235 2082 y Fq(=)82 b Fo(v)1432 |
|
2102 2096 y Fk(1)1472 2082 y Fo(v)23 b Fq(+)d(\()p Fo(x)h |
|
2103 Fl(\000)f Fo(v)1873 2096 y Fk(1)1912 2082 y Fo(v)s Fq(\))15 |
|
2104 b(cos)i Fo(\022)22 b Fq(+)2303 1888 y Fi(2)2303 2034 |
|
2105 y(6)2303 2087 y(4)2454 1969 y Fq(0)2435 2082 y Fo(v)2479 |
|
2106 2096 y Fk(3)2400 2195 y Fl(\000)p Fo(v)2515 2209 y Fk(2)2596 |
|
2107 1888 y Fi(3)2596 2034 y(7)2596 2087 y(5)2666 2082 y Fq(sin)14 |
|
2108 b Fo(\022)1069 2464 y(y)1114 2478 y Fh(r)1235 2464 y |
|
2109 Fq(=)82 b Fo(v)1432 2478 y Fk(2)1472 2464 y Fo(v)23 b |
|
2110 Fq(+)d(\()p Fo(x)h Fl(\000)f Fo(v)1873 2478 y Fk(2)1912 |
|
2111 2464 y Fo(v)s Fq(\))15 b(cos)i Fo(\022)22 b Fq(+)2303 |
|
2112 2270 y Fi(2)2303 2416 y(6)2303 2469 y(4)2400 2351 y Fl(\000)p |
|
2113 Fo(v)2515 2365 y Fk(3)2454 2464 y Fq(0)2435 2577 y Fo(v)2479 |
|
2114 2591 y Fk(1)2596 2270 y Fi(3)2596 2416 y(7)2596 2469 |
|
2115 y(5)2666 2464 y Fq(sin)14 b Fo(\022)1071 2846 y(z)1113 |
|
2116 2860 y Fh(r)1235 2846 y Fq(=)82 b Fo(v)1432 2860 y Fk(3)1472 |
|
2117 2846 y Fo(v)23 b Fq(+)d(\()p Fo(x)h Fl(\000)f Fo(v)1873 |
|
2118 2860 y Fk(3)1912 2846 y Fo(v)s Fq(\))15 b(cos)i Fo(\022)22 |
|
2119 b Fq(+)2303 2652 y Fi(2)2303 2798 y(6)2303 2851 y(4)2435 |
|
2120 2733 y Fo(v)2479 2747 y Fk(2)2400 2846 y Fl(\000)p Fo(v)2515 |
|
2121 2860 y Fk(1)2454 2958 y Fq(0)2596 2652 y Fi(3)2596 2798 |
|
2122 y(7)2596 2851 y(5)2666 2846 y Fq(sin)14 b Fo(\022)0 3119 |
|
2123 y Fq(\(The)30 b(signs)f(are)i(rev)m(ersed)g(since)e(w)m(e're)j(mo)m |
|
2124 (ving)e(the)g(co)s(ordinate)h(axes,)g(not)f(the)h(v)m(ector.\))118 |
|
2125 3232 y(An)26 b(alternativ)m(e)h(deriv)-5 b(ation)24 b(for)i(the)h |
|
2126 (transformation)e(matrix)h(from)g(equation)g(\(1.4\))i(is)d(as)h(follo) |
|
2127 m(ws.)39 b(De\014ne)7 3379 y(\026)-52 b Fo(q)28 b Fq(=)d(imag)q(\()p |
|
2128 Fo(q)s Fq(\))h(=)594 3285 y Fi(h)675 3379 y Fo(q)716 |
|
2129 3393 y Fk(1)838 3379 y Fo(q)879 3393 y Fk(2)1001 3379 |
|
2130 y Fo(q)1042 3393 y Fk(3)1122 3285 y Fi(i)1162 3308 y |
|
2131 Fh(T)1242 3379 y Fq(=)f Fo(v)18 b Fq(sin)o(\()p Fo(\022)s(=)p |
|
2132 Fq(2\),)31 b Fl(k)q Fo(v)s Fl(k)26 b Fq(=)f(1.)41 b(Then)359 |
|
2133 3568 y Fo(x)411 3582 y Fh(r)532 3568 y Fq(=)83 b Fo(v)s(v)780 |
|
2134 3530 y Fh(T)836 3568 y Fo(x)20 b Fq(+)g(\()p Fo(x)g Fl(\000)g |
|
2135 Fo(v)s(v)1291 3530 y Fh(T)1347 3568 y Fo(x)p Fq(\))15 |
|
2136 b(cos)q(\()p Fo(\022)s Fq(\))20 b Fl(\000)g Fq(\(\()p |
|
2137 Fo(v)k Fl(\002)c Fo(e)2069 3582 y Fk(1)2109 3568 y Fq(\))p |
|
2138 Fo(x)2196 3582 y Fk(1)2256 3568 y Fq(+)g(\()p Fo(v)k |
|
2139 Fl(\002)c Fo(e)2583 3582 y Fk(2)2622 3568 y Fq(\))p Fo(x)2709 |
|
2140 3582 y Fk(2)2769 3568 y Fq(+)g(\()p Fo(v)k Fl(\002)c |
|
2141 Fo(e)3096 3582 y Fk(3)3136 3568 y Fq(\))p Fo(x)3223 3582 |
|
2142 y Fk(3)3263 3568 y Fq(\))15 b(sin)o(\()p Fo(\022)s Fq(\))532 |
|
2143 3721 y(=)686 3627 y Fi(\020)736 3721 y Fo(I)22 b Fq(cos)16 |
|
2144 b Fo(\022)22 b Fq(+)e Fo(v)s(v)1185 3684 y Fh(T)1241 |
|
2145 3721 y Fq(\(1)h Fl(\000)f Fq(cos)c Fo(\022)s Fq(\))j(+)h(\()p |
|
2146 Fo(v)k Fl(\002)c Fo(I)7 b Fq(\))15 b(sin)f Fo(\022)2225 |
|
2147 3627 y Fi(\021)2289 3721 y Fo(x)0 3890 y Fq(where)31 |
|
2148 b Fo(v)24 b Fl(\002)d Fo(I)38 b Fq(is)31 b(de\014ned)f(b)m(y)h(the)h |
|
2149 (column-b)m(y-column)e(v)m(ector)j(cross)e(pro)s(duct.)43 |
|
2150 b(F)-8 b(rom)32 b(equation)f(1.3)i(and)e(the)0 4003 y(trigonometric)f |
|
2151 (half-angle)g(form)m(ulae)g(w)m(e)h(ha)m(v)m(e)519 4172 |
|
2152 y(cos)16 b Fo(\022)85 b Fq(=)e(cos)1060 4134 y Fk(2)1099 |
|
2153 4172 y Fq(\()p Fo(\022)s(=)p Fq(2\))21 b Fl(\000)f Fq(sin)1529 |
|
2154 4134 y Fk(2)1568 4172 y Fq(\()p Fo(\022)s(=)p Fq(2\))26 |
|
2155 b(=)f(1)c Fl(\000)f Fq(2)15 b(sin)2225 4134 y Fk(2)2264 |
|
2156 4172 y Fq(\()p Fo(\022)s(=)p Fq(2\))26 b(=)f(1)c Fl(\000)f |
|
2157 Fq(2)2809 4077 y Fi(\020)2859 4172 y Fq(1)h Fl(\000)f |
|
2158 Fq(real)o(\()p Fo(q)s Fq(\))3276 4134 y Fk(2)3316 4077 |
|
2159 y Fi(\021)529 4325 y Fq(sin)14 b Fo(\022)85 b Fq(=)e(2)15 |
|
2160 b(cos)q(\()p Fo(\022)s(=)p Fq(2\))g(sin\()p Fo(\022)s(=)p |
|
2161 Fq(2\))26 b(=)f(2real\()p Fo(q)s Fq(\))15 b(sin)o(\()p |
|
2162 Fo(\022)s(=)p Fq(2\))26 b(=)f(2)p Fo(q)2629 4339 y Fk(4)2684 |
|
2163 4325 y Fq(sin)o(\()p Fo(\022)s(=)p Fq(2\))p Fo(:)0 4483 |
|
2164 y Fq(Substituting)j(the)i(ab)s(o)m(v)m(e)i(in)m(to)e |
|
2165 Fo(x)1171 4497 y Fh(r)1239 4483 y Fq(w)m(e)h(obtain)530 |
|
2166 4702 y Fo(x)582 4716 y Fh(r)702 4702 y Fq(=)856 4558 |
|
2167 y Fi(")905 4702 y Fo(I)7 b Fq(\(2)p Fo(q)1076 4664 y |
|
2168 Fk(2)1073 4724 y(4)1136 4702 y Fl(\000)20 b Fq(1\))h(+)f(2)p |
|
2169 Fo(v)s(v)1558 4664 y Fh(T)1629 4558 y Fi( )1705 4640 |
|
2170 y Fq(sin)1816 4606 y Fk(2)1856 4640 y Fq(\()p Fo(\022)s(=)p |
|
2171 Fq(2\))p 1705 4681 358 4 v 1705 4768 a(sin)1816 4733 |
|
2172 y Fk(2)1856 4768 y Fq(\()p Fo(\022)s(=)p Fq(2\))2073 |
|
2173 4558 y Fi(!)2154 4702 y Fq(\(1)h Fl(\000)e Fo(q)2389 |
|
2174 4664 y Fk(2)2386 4724 y(4)2429 4702 y Fq(\))h(+)g(2\()p |
|
2175 Fo(v)25 b Fl(\002)19 b Fo(I)7 b Fq(\))p Fo(q)2937 4716 |
|
2176 y Fk(4)2992 4702 y Fq(sin)14 b Fo(\022)s(=)p Fq(2)3255 |
|
2177 4558 y Fi(#)3319 4702 y Fo(x)702 4984 y Fq(=)856 4840 |
|
2178 y Fi(")905 4984 y Fo(I)7 b Fq(\(2)p Fo(q)1076 4946 y |
|
2179 Fk(2)1073 5006 y(4)1136 4984 y Fl(\000)20 b Fq(1\))h(+)f(2)7 |
|
2180 b(\026)-52 b Fo(q)10 b Fq(\026)-52 b Fo(q)1552 4946 y |
|
2181 Fh(T)1742 4922 y Fq(1)20 b Fl(\000)g Fo(q)1942 4889 y |
|
2182 Fk(2)1939 4945 y(4)p 1617 4963 490 4 v 1617 5046 a Fq(1)h |
|
2183 Fl(\000)f Fq(cos)1895 5020 y Fk(2)1935 5046 y Fq(\()p |
|
2184 Fo(\022)s(=)p Fq(2)2136 4984 y(+)g(2\()7 b(\026)-52 b |
|
2185 Fo(q)24 b Fl(\002)c Fo(I)7 b Fq(\))p Fo(q)2586 4998 y |
|
2186 Fk(4)2625 4840 y Fi(#)2689 4984 y Fo(x)702 5216 y Fq(=)856 |
|
2187 5122 y Fi(h)895 5216 y Fo(I)g Fq(\(2)p Fo(q)1066 5179 |
|
2188 y Fk(2)1063 5239 y(4)1127 5216 y Fl(\000)20 b Fq(1\))h(+)f(2)7 |
|
2189 b(\026)-52 b Fo(q)10 b Fq(\026)-52 b Fo(q)1543 5179 y |
|
2190 Fh(T)1618 5216 y Fq(+)20 b(2\()7 b(\026)-52 b Fo(q)24 |
|
2191 b Fl(\002)c Fo(I)7 b Fq(\))p Fo(q)2068 5230 y Fk(4)2107 |
|
2192 5122 y Fi(i)2161 5216 y Fo(x)702 5384 y Fq(=)83 b(\(2)p |
|
2193 Fo(q)980 5347 y Fk(2)977 5407 y(4)1040 5384 y Fl(\000)20 |
|
2194 b Fq(1\))p Fo(x)h Fq(+)f(2)7 b(\026)-52 b Fo(q)10 b Fq(\026)-51 |
|
2195 b Fo(q)1509 5347 y Fh(T)1563 5384 y Fo(x)21 b Fq(+)f(2)p |
|
2196 Fo(q)1813 5398 y Fk(4)1852 5384 y Fq(\()7 b(\026)-52 |
|
2197 b Fo(q)23 b Fl(\002)d Fo(x)p Fq(\))p eop |
|
2198 8 7 bop 0 100 a Fn(A.)31 b(S.)f(Ho)s(del:)g(Quaternions)f(\(In)m(tro)s |
|
2199 (duction\))g Fo(R)q(ev)s(ision)d Fq(:)f(1)p Fo(:)p Fq(1)439 |
|
2200 b Fn(\(c\))32 b(1998)908 b Fq(8)0 399 y Fr(Remark)34 |
|
2201 b(1.4)46 b Fq(The)32 b(ab)s(o)m(v)m(e)i(deriv)-5 b(ation)31 |
|
2202 b(treats)i(a)f(quaternion)g(as)g(a)h(transformation)e(up)s(on)g(a)i(v)m |
|
2203 (ector)g(within)0 511 y(a)f(linear)d(space.)44 b(An)31 |
|
2204 b(alternativ)m(e)h(con)m(v)m(en)m(tion)g(is)f(used)f(in)g([R)-10 |
|
2205 b(W91)r(],)31 b(in)f(whic)m(h)g(the)i(quaternion)e(is)g(treated)j(as)0 |
|
2206 624 y(a)e(transformation)e(up)s(on)g(the)h(basis)g(v)m(ectors)h(of)g(a) |
|
2207 f(frame.)41 b(The)30 b(latter)g(con)m(v)m(en)m(tion)i(results)d(in)g(a) |
|
2208 i(sign)e(c)m(hange)0 737 y(of)i(the)f(angle)g(of)h(rotation,)g(i.e.,) |
|
2209 1150 941 y Fo(x)1202 955 y Fh(r)1323 941 y Fq(=)83 b(\(2)p |
|
2210 Fo(q)1601 904 y Fk(2)1598 964 y(4)1661 941 y Fl(\000)20 |
|
2211 b Fq(1\))p Fo(x)h Fq(+)f(2)7 b(\026)-52 b Fo(q)10 b Fq(\026)-52 |
|
2212 b Fo(q)2129 904 y Fh(T)2184 941 y Fo(x)20 b Fq(+)g(2)p |
|
2213 Fo(q)2433 955 y Fk(4)2472 941 y Fq(\()7 b(\026)-52 b |
|
2214 Fo(q)24 b Fl(\002)c Fo(x)p Fq(\))0 1146 y(Use)29 b(of)g(the)f(latter)h |
|
2215 (con)m(v)m(en)m(tion)h(results)d(in)g(a)i(similar)d(c)m(hange)k(in)d |
|
2216 (sign)h(in)f(the)i(time)f(deriv)-5 b(ativ)m(e)28 b(of)h(the)f(quater-)0 |
|
2217 1259 y(nion,)h(discussed)g(in)g(1.5.)0 1471 y Fr(M-\014le)46 |
|
2218 b Fj(qtransv)28 b Fq(Rotate)k(a)f(v)m(ector)227 1696 |
|
2219 y Fj(qtransv)46 b(is)h(the)g(function)f(defined)g(from:)g |
|
2220 (/home3/hodel/oct/quat/qt)o(rans)o(v.m)275 1922 y(vr)h(=)h |
|
2221 (qtransv\(vv,qr\))275 2035 y(rotate)e(a)i(3-vector)d(as)i(specified)f |
|
2222 (by)h(quaternion)e(qr)275 2148 y(q)i(=)h(\(ee,th\))93 |
|
2223 b(\(vector,)46 b(angle)g(notation\))275 2261 y(vr)h(=)h(\(vv)f(.)g |
|
2224 (ee\)*ee)f([projection)f(on)i(ee)g(unchanged)e(])514 |
|
2225 2374 y(+)i([vv)g(-)g(\(vv)g(.)h(ee\)*ee])e(cos\(th\))93 |
|
2226 b([what's)46 b(left)h(gets)f(scaled)g(by)i(cosine])514 |
|
2227 2487 y(+)f(\(vv)g(x)g(ee\))g(sin\(th\))571 b([and)47 |
|
2228 b(the)g(sine)f(term)h(completes)e(the)i(rotation])0 2711 |
|
2229 y Fr(M-\014le)f Fj(qtransvmat)57 b Fq(Obtain)30 b(3)20 |
|
2230 b Fl(\002)g Fq(3)31 b(rotation)g(matrix)e(from)h(a)h(quaternion)275 |
|
2231 2936 y Fj([xv,yv,zv])45 b(=)i(qtransvmat\(q\))275 3049 |
|
2232 y(xm)g(=)h(qtransvmat\(q\),)c(xm)j(=)g([xv)g(yv)g(zv])275 |
|
2233 3162 y(compute)f(x,y,z)g(axes)h(rotated)f(per)h(specified)e(quaternion) |
|
2234 g(q)0 3387 y Fr(Example)34 b(1.4)46 b Fq(Use)30 b(of)h(quaternions)e |
|
2235 (to)i(view)f(b)s(o)s(dy/inertial)d(frame)k(transformations:)0 |
|
2236 3575 y Fj(degrees)46 b(=)h(pi/180;)189 b(daz)47 b(=)h(30*degrees;)188 |
|
2237 b(del)46 b(=)i(-20*degrees;)0 3688 y(qazimuth)e(=)h |
|
2238 (quaternion\([0,0,1],daz\);)0 3801 y(qelevation)e(=)i |
|
2239 (quaternion\([cos\(daz\),sin\(d)o(az\),)o(0],)o(del\))o(;)0 |
|
2240 3914 y(qview)f(=)i(qmult\(qelevation,qazimut)o(h\);)0 |
|
2241 4139 y(th)f(=)h(0:5:20;)0 4252 y(ov)f(=)h(ones\(size\(th\)\);)0 |
|
2242 4365 y(myth)f(=)g([th,max\(th\)*ov)d(;)j(0*ov,th];)0 |
|
2243 4478 y(myth)g(=)g([[0:5:20])e(,)j(20*ones\(1,4\),20*ones\(1,4)o(\);)41 |
|
2244 b(...)382 4591 y(zeros\(1,5\),)k(5:5:20,)g(20*ones\(1,4\);)g(...)382 |
|
2245 4704 y(zeros\(1,5\),)g(zeros\(1,4\),)f([5:5:20]];)0 4930 |
|
2246 y(#)j(inertial)f(frame)g(quaternion)0 5043 y(qin)h(=)g(quaternion\([1)e |
|
2247 (0)i(0],180*degrees\);)0 5156 y(for)g(kk=1:length\(myth\(1,:\)\))95 |
|
2248 5269 y(figure\(kk\))95 5381 y(thy)g(=)h(myth\(1,kk\);)140 |
|
2249 b(thp)47 b(=)g(myth\(2,kk\);)141 b(thr)46 b(=)i(myth\(3,kk\);)p |
|
2250 eop |
|
2251 9 8 bop 0 100 a Fn(A.)31 b(S.)f(Ho)s(del:)40 b(Quaternions)29 |
|
2252 b(\(In)m(tro)s(duction\))g Fo(R)q(ev)s(ision)d Fq(:)f(1)p |
|
2253 Fo(:)p Fq(1)436 b Fn(\(c\))31 b(1998)902 b Fq(9)95 399 |
|
2254 y Fj(#)48 b(avoid)e(transformations)e(by)j(reversing)e(the)i(order)g |
|
2255 (of)g(multiplication!)95 511 y(qyi)g(=)h(quaternion\([0,0,1],thy*d)o |
|
2256 (egr)o(ees\))o(;)95 624 y(qp1)f(=)h(quaternion\([0,1,0],thp*d)o(egr)o |
|
2257 (ees\))o(;)95 737 y(qr2)f(=)h(quaternion\([1,0,0],thr*d)o(egr)o(ees\))o |
|
2258 (;)95 850 y(qbi)f(=)h(qmult\(qyi,qmult\(qp1,qr2\))o(\);)95 |
|
2259 1076 y(printf\("yaw=\0458.4f,)43 b(pitch=\0458.4f,)i(\\n)190 |
|
2260 b(qbi)47 b(=)g(\(\0458.4f\)i)f(+)h(\(\0458.4e\)j)f(+)h(\(\0458.4f\)k)f |
|
2261 (+)h(\()0 1189 y(\0458.4f\)\\n",thy,thp,)c(...)382 1302 |
|
2262 y(qbi\(1\),)j(qbi\(2\),)f(qbi\(3\),)h(qbi\(4\)\);)95 |
|
2263 1415 y([vv,th])g(=)i(quaternion\(qbi\);)95 1528 y(printf\(")285 |
|
2264 b(=)47 b(\(vector\))f(=)h([\0458.4f)f(\0458.4f)h(\0458.4f],)e |
|
2265 (th=\0455.2f)h(deg\\n",)g(...)382 1641 y(vv\(1\),)g(vv\(2\),)g |
|
2266 (vv\(3\),)g(th*180/pi\);)95 1866 y(#)i(transform)d(qbi)i(to)g |
|
2267 (reference)f(coordinates)95 1979 y(qb)i(=)f(qmult\(qin,qbi\);)95 |
|
2268 2092 y(title\(sprintf\("yaw=\0455.2f,)41 b(pitch=\0455.2f,)k |
|
2269 (roll=\0455.2f)g(\(deg\)",thy,thp,thr\)\))95 2205 y |
|
2270 (coordinate_plot\(qin,qb,qvi)o(ew\);)95 2318 y(gset)i(terminal)f |
|
2271 (postscript)f(eps)95 2431 y(eval\(sprintf\("gset)e(output)j |
|
2272 ('fig\045d.eps'",kk\)\);)95 2544 y(replot)95 2657 y(gset)h(terminal)f |
|
2273 (x11)0 2770 y(endfor)0 2957 y Fq(Results:)316 2924 y |
|
2274 Fk(1)50 4816 y @beginspecial 50 @llx 50 @lly 410 @urx |
|
2275 302 @ury 2808 @rwi @setspecial |
|
2276 /gnudict 120 dict def |
|
2277 gnudict begin |
|
2278 /Color false def |
|
2279 /Solid false def |
|
2280 /gnulinewidth 5.000 def |
|
2281 /userlinewidth gnulinewidth def |
|
2282 /vshift -46 def |
|
2283 /dl {10 mul} def |
|
2284 /hpt_ 31.5 def |
|
2285 /vpt_ 31.5 def |
|
2286 /hpt hpt_ def |
|
2287 /vpt vpt_ def |
|
2288 /M {moveto} bind def |
|
2289 /L {lineto} bind def |
|
2290 /R {rmoveto} bind def |
|
2291 /V {rlineto} bind def |
|
2292 /vpt2 vpt 2 mul def |
|
2293 /hpt2 hpt 2 mul def |
|
2294 /Lshow { currentpoint stroke M |
|
2295 0 vshift R show } def |
|
2296 /Rshow { currentpoint stroke M |
|
2297 dup stringwidth pop neg vshift R show } def |
|
2298 /Cshow { currentpoint stroke M |
|
2299 dup stringwidth pop -2 div vshift R show } def |
|
2300 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
2301 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
2302 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
2303 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
2304 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
2305 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
2306 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
2307 /PL { stroke userlinewidth setlinewidth } def |
|
2308 /LTb { BL [] 0 0 0 DL } def |
|
2309 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
2310 /LT0 { PL [] 0 1 0 DL } def |
|
2311 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
2312 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
2313 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
2314 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
2315 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
2316 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
2317 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
2318 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
2319 /Pnt { stroke [] 0 setdash |
|
2320 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
2321 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
2322 hpt neg vpt neg V hpt vpt neg V |
|
2323 hpt vpt V hpt neg vpt V closepath stroke |
|
2324 Pnt } def |
|
2325 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
2326 currentpoint stroke M |
|
2327 hpt neg vpt neg R hpt2 0 V stroke |
|
2328 } def |
|
2329 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
2330 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
2331 hpt2 neg 0 V closepath stroke |
|
2332 Pnt } def |
|
2333 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
2334 hpt2 vpt2 neg V currentpoint stroke M |
|
2335 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
2336 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
2337 hpt neg vpt -1.62 mul V |
|
2338 hpt 2 mul 0 V |
|
2339 hpt neg vpt 1.62 mul V closepath stroke |
|
2340 Pnt } def |
|
2341 /Star { 2 copy Pls Crs } def |
|
2342 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
2343 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
2344 hpt2 neg 0 V closepath fill } def |
|
2345 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
2346 hpt neg vpt -1.62 mul V |
|
2347 hpt 2 mul 0 V |
|
2348 hpt neg vpt 1.62 mul V closepath fill } def |
|
2349 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
2350 hpt neg vpt 1.62 mul V |
|
2351 hpt 2 mul 0 V |
|
2352 hpt neg vpt -1.62 mul V closepath stroke |
|
2353 Pnt } def |
|
2354 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
2355 hpt neg vpt 1.62 mul V |
|
2356 hpt 2 mul 0 V |
|
2357 hpt neg vpt -1.62 mul V closepath fill} def |
|
2358 /DiaF { stroke [] 0 setdash vpt add M |
|
2359 hpt neg vpt neg V hpt vpt neg V |
|
2360 hpt vpt V hpt neg vpt V closepath fill } def |
|
2361 /Pent { stroke [] 0 setdash 2 copy gsave |
|
2362 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
2363 closepath stroke grestore Pnt } def |
|
2364 /PentF { stroke [] 0 setdash gsave |
|
2365 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
2366 closepath fill grestore } def |
|
2367 /Circle { stroke [] 0 setdash 2 copy |
|
2368 hpt 0 360 arc stroke Pnt } def |
|
2369 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
2370 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
2371 /C1 { BL [] 0 setdash 2 copy moveto |
|
2372 2 copy vpt 0 90 arc closepath fill |
|
2373 vpt 0 360 arc closepath } bind def |
|
2374 /C2 { BL [] 0 setdash 2 copy moveto |
|
2375 2 copy vpt 90 180 arc closepath fill |
|
2376 vpt 0 360 arc closepath } bind def |
|
2377 /C3 { BL [] 0 setdash 2 copy moveto |
|
2378 2 copy vpt 0 180 arc closepath fill |
|
2379 vpt 0 360 arc closepath } bind def |
|
2380 /C4 { BL [] 0 setdash 2 copy moveto |
|
2381 2 copy vpt 180 270 arc closepath fill |
|
2382 vpt 0 360 arc closepath } bind def |
|
2383 /C5 { BL [] 0 setdash 2 copy moveto |
|
2384 2 copy vpt 0 90 arc |
|
2385 2 copy moveto |
|
2386 2 copy vpt 180 270 arc closepath fill |
|
2387 vpt 0 360 arc } bind def |
|
2388 /C6 { BL [] 0 setdash 2 copy moveto |
|
2389 2 copy vpt 90 270 arc closepath fill |
|
2390 vpt 0 360 arc closepath } bind def |
|
2391 /C7 { BL [] 0 setdash 2 copy moveto |
|
2392 2 copy vpt 0 270 arc closepath fill |
|
2393 vpt 0 360 arc closepath } bind def |
|
2394 /C8 { BL [] 0 setdash 2 copy moveto |
|
2395 2 copy vpt 270 360 arc closepath fill |
|
2396 vpt 0 360 arc closepath } bind def |
|
2397 /C9 { BL [] 0 setdash 2 copy moveto |
|
2398 2 copy vpt 270 450 arc closepath fill |
|
2399 vpt 0 360 arc closepath } bind def |
|
2400 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
2401 2 copy moveto |
|
2402 2 copy vpt 90 180 arc closepath fill |
|
2403 vpt 0 360 arc closepath } bind def |
|
2404 /C11 { BL [] 0 setdash 2 copy moveto |
|
2405 2 copy vpt 0 180 arc closepath fill |
|
2406 2 copy moveto |
|
2407 2 copy vpt 270 360 arc closepath fill |
|
2408 vpt 0 360 arc closepath } bind def |
|
2409 /C12 { BL [] 0 setdash 2 copy moveto |
|
2410 2 copy vpt 180 360 arc closepath fill |
|
2411 vpt 0 360 arc closepath } bind def |
|
2412 /C13 { BL [] 0 setdash 2 copy moveto |
|
2413 2 copy vpt 0 90 arc closepath fill |
|
2414 2 copy moveto |
|
2415 2 copy vpt 180 360 arc closepath fill |
|
2416 vpt 0 360 arc closepath } bind def |
|
2417 /C14 { BL [] 0 setdash 2 copy moveto |
|
2418 2 copy vpt 90 360 arc closepath fill |
|
2419 vpt 0 360 arc } bind def |
|
2420 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
2421 vpt 0 360 arc closepath } bind def |
|
2422 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
2423 neg 0 rlineto closepath } bind def |
|
2424 /Square { dup Rec } bind def |
|
2425 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
2426 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
2427 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
2428 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
2429 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
2430 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
2431 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
2432 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
2433 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
2434 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
2435 2 copy vpt Square fill |
|
2436 Bsquare } bind def |
|
2437 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
2438 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
2439 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
2440 Bsquare } bind def |
|
2441 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
2442 Bsquare } bind def |
|
2443 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
2444 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
2445 2 copy vpt Square fill Bsquare } bind def |
|
2446 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
2447 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
2448 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
2449 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
2450 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
2451 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
2452 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
2453 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
2454 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
2455 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
2456 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
2457 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
2458 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
2459 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
2460 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
2461 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
2462 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
2463 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
2464 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
2465 /DiaE { stroke [] 0 setdash vpt add M |
|
2466 hpt neg vpt neg V hpt vpt neg V |
|
2467 hpt vpt V hpt neg vpt V closepath stroke } def |
|
2468 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
2469 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
2470 hpt2 neg 0 V closepath stroke } def |
|
2471 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
2472 hpt neg vpt -1.62 mul V |
|
2473 hpt 2 mul 0 V |
|
2474 hpt neg vpt 1.62 mul V closepath stroke } def |
|
2475 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
2476 hpt neg vpt 1.62 mul V |
|
2477 hpt 2 mul 0 V |
|
2478 hpt neg vpt -1.62 mul V closepath stroke } def |
|
2479 /PentE { stroke [] 0 setdash gsave |
|
2480 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
2481 closepath stroke grestore } def |
|
2482 /CircE { stroke [] 0 setdash |
|
2483 hpt 0 360 arc stroke } def |
|
2484 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
2485 end |
|
2486 gnudict begin |
|
2487 gsave |
|
2488 50 50 translate |
|
2489 0.050 0.050 scale |
|
2490 0 setgray |
|
2491 newpath |
|
2492 (Helvetica) findfont 140 scalefont setfont |
|
2493 LTb |
|
2494 672 560 M |
|
2495 63 0 V |
|
2496 4067 0 R |
|
2497 -63 0 V |
|
2498 588 560 M |
|
2499 (-2) Rshow |
|
2500 672 1076 M |
|
2501 63 0 V |
|
2502 4067 0 R |
|
2503 -63 0 V |
|
2504 -4151 0 R |
|
2505 (-1.5) Rshow |
|
2506 672 1593 M |
|
2507 63 0 V |
|
2508 4067 0 R |
|
2509 -63 0 V |
|
2510 -4151 0 R |
|
2511 (-1) Rshow |
|
2512 672 2109 M |
|
2513 63 0 V |
|
2514 4067 0 R |
|
2515 -63 0 V |
|
2516 -4151 0 R |
|
2517 (-0.5) Rshow |
|
2518 672 2625 M |
|
2519 63 0 V |
|
2520 4067 0 R |
|
2521 -63 0 V |
|
2522 -4151 0 R |
|
2523 (0) Rshow |
|
2524 672 3141 M |
|
2525 63 0 V |
|
2526 4067 0 R |
|
2527 -63 0 V |
|
2528 -4151 0 R |
|
2529 (0.5) Rshow |
|
2530 672 3658 M |
|
2531 63 0 V |
|
2532 4067 0 R |
|
2533 -63 0 V |
|
2534 -4151 0 R |
|
2535 (1) Rshow |
|
2536 672 4174 M |
|
2537 63 0 V |
|
2538 4067 0 R |
|
2539 -63 0 V |
|
2540 -4151 0 R |
|
2541 (1.5) Rshow |
|
2542 672 4690 M |
|
2543 63 0 V |
|
2544 4067 0 R |
|
2545 -63 0 V |
|
2546 -4151 0 R |
|
2547 (2) Rshow |
|
2548 672 560 M |
|
2549 0 63 V |
|
2550 0 4067 R |
|
2551 0 -63 V |
|
2552 672 420 M |
|
2553 (-2) Cshow |
|
2554 1188 560 M |
|
2555 0 63 V |
|
2556 0 4067 R |
|
2557 0 -63 V |
|
2558 0 -4207 R |
|
2559 (-1.5) Cshow |
|
2560 1705 560 M |
|
2561 0 63 V |
|
2562 0 4067 R |
|
2563 0 -63 V |
|
2564 0 -4207 R |
|
2565 (-1) Cshow |
|
2566 2221 560 M |
|
2567 0 63 V |
|
2568 0 4067 R |
|
2569 0 -63 V |
|
2570 0 -4207 R |
|
2571 (-0.5) Cshow |
|
2572 2737 560 M |
|
2573 0 63 V |
|
2574 0 4067 R |
|
2575 0 -63 V |
|
2576 0 -4207 R |
|
2577 (0) Cshow |
|
2578 3253 560 M |
|
2579 0 63 V |
|
2580 0 4067 R |
|
2581 0 -63 V |
|
2582 0 -4207 R |
|
2583 (0.5) Cshow |
|
2584 3770 560 M |
|
2585 0 63 V |
|
2586 0 4067 R |
|
2587 0 -63 V |
|
2588 0 -4207 R |
|
2589 (1) Cshow |
|
2590 4286 560 M |
|
2591 0 63 V |
|
2592 0 4067 R |
|
2593 0 -63 V |
|
2594 0 -4207 R |
|
2595 (1.5) Cshow |
|
2596 4802 560 M |
|
2597 0 63 V |
|
2598 0 4067 R |
|
2599 0 -63 V |
|
2600 0 -4207 R |
|
2601 (2) Cshow |
|
2602 LTb |
|
2603 672 560 M |
|
2604 4130 0 V |
|
2605 0 4130 V |
|
2606 -4130 0 V |
|
2607 672 560 L |
|
2608 2737 210 M |
|
2609 (rotate about eigenaxis 0.00 deg) Cshow |
|
2610 2737 4900 M |
|
2611 (reference coordinates) Cshow |
|
2612 1.000 UP |
|
2613 1.000 UL |
|
2614 LT0 |
|
2615 4151 4557 M |
|
2616 (x \(body\)) Rshow |
|
2617 4235 4557 M |
|
2618 399 0 V |
|
2619 3631 2625 M |
|
2620 -894 0 V |
|
2621 3631 2625 Pls |
|
2622 2737 2625 Pls |
|
2623 4434 4557 Pls |
|
2624 1.000 UP |
|
2625 1.000 UL |
|
2626 LT1 |
|
2627 4151 4417 M |
|
2628 (y \(body\)) Rshow |
|
2629 4235 4417 M |
|
2630 399 0 V |
|
2631 2737 2625 M |
|
2632 2252 2272 L |
|
2633 2737 2625 Pls |
|
2634 2252 2272 Pls |
|
2635 4434 4417 Pls |
|
2636 1.000 UP |
|
2637 1.000 UL |
|
2638 LT2 |
|
2639 4151 4277 M |
|
2640 (z \(body\)) Rshow |
|
2641 4235 4277 M |
|
2642 399 0 V |
|
2643 2737 2625 M |
|
2644 -177 970 V |
|
2645 2737 2625 Crs |
|
2646 2560 3595 Crs |
|
2647 4434 4277 Crs |
|
2648 1.000 UP |
|
2649 1.000 UL |
|
2650 LT0 |
|
2651 4151 4137 M |
|
2652 (x \(inertial\)) Rshow |
|
2653 4235 4137 M |
|
2654 399 0 V |
|
2655 3631 2625 M |
|
2656 -894 0 V |
|
2657 3631 2625 Star |
|
2658 2737 2625 Star |
|
2659 4434 4137 Star |
|
2660 1.000 UP |
|
2661 1.000 UL |
|
2662 LT1 |
|
2663 4151 3997 M |
|
2664 (y \(inertial\)) Rshow |
|
2665 4235 3997 M |
|
2666 399 0 V |
|
2667 2737 2625 M |
|
2668 2252 2272 L |
|
2669 2737 2625 Star |
|
2670 2252 2272 Star |
|
2671 4434 3997 Star |
|
2672 1.000 UP |
|
2673 1.000 UL |
|
2674 LT2 |
|
2675 4151 3857 M |
|
2676 (z \(inertial\)) Rshow |
|
2677 4235 3857 M |
|
2678 399 0 V |
|
2679 2737 2625 M |
|
2680 -177 970 V |
|
2681 2737 2625 Box |
|
2682 2560 3595 Box |
|
2683 4434 3857 Box |
|
2684 1.000 UL |
|
2685 LT5 |
|
2686 4151 3717 M |
|
2687 (eigenaxis) Rshow |
|
2688 4235 3717 M |
|
2689 399 0 V |
|
2690 2737 2625 M |
|
2691 -177 970 V |
|
2692 -89 0 V |
|
2693 1.000 UL |
|
2694 LT3 |
|
2695 3323 1302 M |
|
2696 -1789 0 V |
|
2697 1181 3242 L |
|
2698 970 706 V |
|
2699 1789 0 V |
|
2700 4293 2008 L |
|
2701 3323 1302 L |
|
2702 970 706 V |
|
2703 -1788 0 V |
|
2704 2151 3948 L |
|
2705 2505 2008 L |
|
2706 1534 1302 L |
|
2707 1.000 UL |
|
2708 LT4 |
|
2709 3940 3948 M |
|
2710 2969 3242 L |
|
2711 -1788 0 V |
|
2712 1788 0 V |
|
2713 3323 1302 L |
|
2714 stroke |
|
2715 grestore |
|
2716 end |
|
2717 showpage |
|
2718 @endspecial 2050 w @beginspecial 50 @llx 50 @lly 410 |
|
2719 @urx 302 @ury 2808 @rwi @setspecial |
|
2720 /gnudict 120 dict def |
|
2721 gnudict begin |
|
2722 /Color false def |
|
2723 /Solid false def |
|
2724 /gnulinewidth 5.000 def |
|
2725 /userlinewidth gnulinewidth def |
|
2726 /vshift -46 def |
|
2727 /dl {10 mul} def |
|
2728 /hpt_ 31.5 def |
|
2729 /vpt_ 31.5 def |
|
2730 /hpt hpt_ def |
|
2731 /vpt vpt_ def |
|
2732 /M {moveto} bind def |
|
2733 /L {lineto} bind def |
|
2734 /R {rmoveto} bind def |
|
2735 /V {rlineto} bind def |
|
2736 /vpt2 vpt 2 mul def |
|
2737 /hpt2 hpt 2 mul def |
|
2738 /Lshow { currentpoint stroke M |
|
2739 0 vshift R show } def |
|
2740 /Rshow { currentpoint stroke M |
|
2741 dup stringwidth pop neg vshift R show } def |
|
2742 /Cshow { currentpoint stroke M |
|
2743 dup stringwidth pop -2 div vshift R show } def |
|
2744 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
2745 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
2746 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
2747 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
2748 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
2749 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
2750 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
2751 /PL { stroke userlinewidth setlinewidth } def |
|
2752 /LTb { BL [] 0 0 0 DL } def |
|
2753 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
2754 /LT0 { PL [] 0 1 0 DL } def |
|
2755 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
2756 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
2757 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
2758 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
2759 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
2760 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
2761 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
2762 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
2763 /Pnt { stroke [] 0 setdash |
|
2764 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
2765 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
2766 hpt neg vpt neg V hpt vpt neg V |
|
2767 hpt vpt V hpt neg vpt V closepath stroke |
|
2768 Pnt } def |
|
2769 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
2770 currentpoint stroke M |
|
2771 hpt neg vpt neg R hpt2 0 V stroke |
|
2772 } def |
|
2773 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
2774 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
2775 hpt2 neg 0 V closepath stroke |
|
2776 Pnt } def |
|
2777 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
2778 hpt2 vpt2 neg V currentpoint stroke M |
|
2779 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
2780 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
2781 hpt neg vpt -1.62 mul V |
|
2782 hpt 2 mul 0 V |
|
2783 hpt neg vpt 1.62 mul V closepath stroke |
|
2784 Pnt } def |
|
2785 /Star { 2 copy Pls Crs } def |
|
2786 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
2787 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
2788 hpt2 neg 0 V closepath fill } def |
|
2789 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
2790 hpt neg vpt -1.62 mul V |
|
2791 hpt 2 mul 0 V |
|
2792 hpt neg vpt 1.62 mul V closepath fill } def |
|
2793 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
2794 hpt neg vpt 1.62 mul V |
|
2795 hpt 2 mul 0 V |
|
2796 hpt neg vpt -1.62 mul V closepath stroke |
|
2797 Pnt } def |
|
2798 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
2799 hpt neg vpt 1.62 mul V |
|
2800 hpt 2 mul 0 V |
|
2801 hpt neg vpt -1.62 mul V closepath fill} def |
|
2802 /DiaF { stroke [] 0 setdash vpt add M |
|
2803 hpt neg vpt neg V hpt vpt neg V |
|
2804 hpt vpt V hpt neg vpt V closepath fill } def |
|
2805 /Pent { stroke [] 0 setdash 2 copy gsave |
|
2806 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
2807 closepath stroke grestore Pnt } def |
|
2808 /PentF { stroke [] 0 setdash gsave |
|
2809 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
2810 closepath fill grestore } def |
|
2811 /Circle { stroke [] 0 setdash 2 copy |
|
2812 hpt 0 360 arc stroke Pnt } def |
|
2813 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
2814 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
2815 /C1 { BL [] 0 setdash 2 copy moveto |
|
2816 2 copy vpt 0 90 arc closepath fill |
|
2817 vpt 0 360 arc closepath } bind def |
|
2818 /C2 { BL [] 0 setdash 2 copy moveto |
|
2819 2 copy vpt 90 180 arc closepath fill |
|
2820 vpt 0 360 arc closepath } bind def |
|
2821 /C3 { BL [] 0 setdash 2 copy moveto |
|
2822 2 copy vpt 0 180 arc closepath fill |
|
2823 vpt 0 360 arc closepath } bind def |
|
2824 /C4 { BL [] 0 setdash 2 copy moveto |
|
2825 2 copy vpt 180 270 arc closepath fill |
|
2826 vpt 0 360 arc closepath } bind def |
|
2827 /C5 { BL [] 0 setdash 2 copy moveto |
|
2828 2 copy vpt 0 90 arc |
|
2829 2 copy moveto |
|
2830 2 copy vpt 180 270 arc closepath fill |
|
2831 vpt 0 360 arc } bind def |
|
2832 /C6 { BL [] 0 setdash 2 copy moveto |
|
2833 2 copy vpt 90 270 arc closepath fill |
|
2834 vpt 0 360 arc closepath } bind def |
|
2835 /C7 { BL [] 0 setdash 2 copy moveto |
|
2836 2 copy vpt 0 270 arc closepath fill |
|
2837 vpt 0 360 arc closepath } bind def |
|
2838 /C8 { BL [] 0 setdash 2 copy moveto |
|
2839 2 copy vpt 270 360 arc closepath fill |
|
2840 vpt 0 360 arc closepath } bind def |
|
2841 /C9 { BL [] 0 setdash 2 copy moveto |
|
2842 2 copy vpt 270 450 arc closepath fill |
|
2843 vpt 0 360 arc closepath } bind def |
|
2844 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
2845 2 copy moveto |
|
2846 2 copy vpt 90 180 arc closepath fill |
|
2847 vpt 0 360 arc closepath } bind def |
|
2848 /C11 { BL [] 0 setdash 2 copy moveto |
|
2849 2 copy vpt 0 180 arc closepath fill |
|
2850 2 copy moveto |
|
2851 2 copy vpt 270 360 arc closepath fill |
|
2852 vpt 0 360 arc closepath } bind def |
|
2853 /C12 { BL [] 0 setdash 2 copy moveto |
|
2854 2 copy vpt 180 360 arc closepath fill |
|
2855 vpt 0 360 arc closepath } bind def |
|
2856 /C13 { BL [] 0 setdash 2 copy moveto |
|
2857 2 copy vpt 0 90 arc closepath fill |
|
2858 2 copy moveto |
|
2859 2 copy vpt 180 360 arc closepath fill |
|
2860 vpt 0 360 arc closepath } bind def |
|
2861 /C14 { BL [] 0 setdash 2 copy moveto |
|
2862 2 copy vpt 90 360 arc closepath fill |
|
2863 vpt 0 360 arc } bind def |
|
2864 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
2865 vpt 0 360 arc closepath } bind def |
|
2866 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
2867 neg 0 rlineto closepath } bind def |
|
2868 /Square { dup Rec } bind def |
|
2869 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
2870 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
2871 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
2872 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
2873 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
2874 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
2875 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
2876 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
2877 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
2878 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
2879 2 copy vpt Square fill |
|
2880 Bsquare } bind def |
|
2881 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
2882 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
2883 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
2884 Bsquare } bind def |
|
2885 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
2886 Bsquare } bind def |
|
2887 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
2888 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
2889 2 copy vpt Square fill Bsquare } bind def |
|
2890 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
2891 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
2892 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
2893 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
2894 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
2895 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
2896 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
2897 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
2898 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
2899 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
2900 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
2901 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
2902 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
2903 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
2904 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
2905 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
2906 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
2907 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
2908 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
2909 /DiaE { stroke [] 0 setdash vpt add M |
|
2910 hpt neg vpt neg V hpt vpt neg V |
|
2911 hpt vpt V hpt neg vpt V closepath stroke } def |
|
2912 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
2913 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
2914 hpt2 neg 0 V closepath stroke } def |
|
2915 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
2916 hpt neg vpt -1.62 mul V |
|
2917 hpt 2 mul 0 V |
|
2918 hpt neg vpt 1.62 mul V closepath stroke } def |
|
2919 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
2920 hpt neg vpt 1.62 mul V |
|
2921 hpt 2 mul 0 V |
|
2922 hpt neg vpt -1.62 mul V closepath stroke } def |
|
2923 /PentE { stroke [] 0 setdash gsave |
|
2924 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
2925 closepath stroke grestore } def |
|
2926 /CircE { stroke [] 0 setdash |
|
2927 hpt 0 360 arc stroke } def |
|
2928 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
2929 end |
|
2930 gnudict begin |
|
2931 gsave |
|
2932 50 50 translate |
|
2933 0.050 0.050 scale |
|
2934 0 setgray |
|
2935 newpath |
|
2936 (Helvetica) findfont 140 scalefont setfont |
|
2937 LTb |
|
2938 672 560 M |
|
2939 63 0 V |
|
2940 4067 0 R |
|
2941 -63 0 V |
|
2942 588 560 M |
|
2943 (-2) Rshow |
|
2944 672 1076 M |
|
2945 63 0 V |
|
2946 4067 0 R |
|
2947 -63 0 V |
|
2948 -4151 0 R |
|
2949 (-1.5) Rshow |
|
2950 672 1593 M |
|
2951 63 0 V |
|
2952 4067 0 R |
|
2953 -63 0 V |
|
2954 -4151 0 R |
|
2955 (-1) Rshow |
|
2956 672 2109 M |
|
2957 63 0 V |
|
2958 4067 0 R |
|
2959 -63 0 V |
|
2960 -4151 0 R |
|
2961 (-0.5) Rshow |
|
2962 672 2625 M |
|
2963 63 0 V |
|
2964 4067 0 R |
|
2965 -63 0 V |
|
2966 -4151 0 R |
|
2967 (0) Rshow |
|
2968 672 3141 M |
|
2969 63 0 V |
|
2970 4067 0 R |
|
2971 -63 0 V |
|
2972 -4151 0 R |
|
2973 (0.5) Rshow |
|
2974 672 3658 M |
|
2975 63 0 V |
|
2976 4067 0 R |
|
2977 -63 0 V |
|
2978 -4151 0 R |
|
2979 (1) Rshow |
|
2980 672 4174 M |
|
2981 63 0 V |
|
2982 4067 0 R |
|
2983 -63 0 V |
|
2984 -4151 0 R |
|
2985 (1.5) Rshow |
|
2986 672 4690 M |
|
2987 63 0 V |
|
2988 4067 0 R |
|
2989 -63 0 V |
|
2990 -4151 0 R |
|
2991 (2) Rshow |
|
2992 672 560 M |
|
2993 0 63 V |
|
2994 0 4067 R |
|
2995 0 -63 V |
|
2996 672 420 M |
|
2997 (-2) Cshow |
|
2998 1188 560 M |
|
2999 0 63 V |
|
3000 0 4067 R |
|
3001 0 -63 V |
|
3002 0 -4207 R |
|
3003 (-1.5) Cshow |
|
3004 1705 560 M |
|
3005 0 63 V |
|
3006 0 4067 R |
|
3007 0 -63 V |
|
3008 0 -4207 R |
|
3009 (-1) Cshow |
|
3010 2221 560 M |
|
3011 0 63 V |
|
3012 0 4067 R |
|
3013 0 -63 V |
|
3014 0 -4207 R |
|
3015 (-0.5) Cshow |
|
3016 2737 560 M |
|
3017 0 63 V |
|
3018 0 4067 R |
|
3019 0 -63 V |
|
3020 0 -4207 R |
|
3021 (0) Cshow |
|
3022 3253 560 M |
|
3023 0 63 V |
|
3024 0 4067 R |
|
3025 0 -63 V |
|
3026 0 -4207 R |
|
3027 (0.5) Cshow |
|
3028 3770 560 M |
|
3029 0 63 V |
|
3030 0 4067 R |
|
3031 0 -63 V |
|
3032 0 -4207 R |
|
3033 (1) Cshow |
|
3034 4286 560 M |
|
3035 0 63 V |
|
3036 0 4067 R |
|
3037 0 -63 V |
|
3038 0 -4207 R |
|
3039 (1.5) Cshow |
|
3040 4802 560 M |
|
3041 0 63 V |
|
3042 0 4067 R |
|
3043 0 -63 V |
|
3044 0 -4207 R |
|
3045 (2) Cshow |
|
3046 LTb |
|
3047 672 560 M |
|
3048 4130 0 V |
|
3049 0 4130 V |
|
3050 -4130 0 V |
|
3051 672 560 L |
|
3052 2737 210 M |
|
3053 (rotate about eigenaxis 0.00 deg) Cshow |
|
3054 2737 4900 M |
|
3055 (yaw= 0.00 deg, pitch= 0.00 deg) Cshow |
|
3056 1.000 UP |
|
3057 1.000 UL |
|
3058 LT0 |
|
3059 4151 4557 M |
|
3060 (x \(body\)) Rshow |
|
3061 4235 4557 M |
|
3062 399 0 V |
|
3063 3467 2625 M |
|
3064 -730 0 V |
|
3065 3467 2625 Pls |
|
3066 2737 2625 Pls |
|
3067 4434 4557 Pls |
|
3068 1.000 UP |
|
3069 1.000 UL |
|
3070 LT1 |
|
3071 4151 4417 M |
|
3072 (y \(body\)) Rshow |
|
3073 4235 4417 M |
|
3074 399 0 V |
|
3075 2737 2625 M |
|
3076 632 516 V |
|
3077 2737 2625 Pls |
|
3078 3369 3141 Pls |
|
3079 4434 4417 Pls |
|
3080 1.000 UP |
|
3081 1.000 UL |
|
3082 LT2 |
|
3083 4151 4277 M |
|
3084 (z \(body\)) Rshow |
|
3085 4235 4277 M |
|
3086 399 0 V |
|
3087 2737 2625 M |
|
3088 365 -894 V |
|
3089 2737 2625 Crs |
|
3090 3102 1731 Crs |
|
3091 4434 4277 Crs |
|
3092 1.000 UP |
|
3093 1.000 UL |
|
3094 LT0 |
|
3095 4151 4137 M |
|
3096 (x \(inertial\)) Rshow |
|
3097 4235 4137 M |
|
3098 399 0 V |
|
3099 3467 2625 M |
|
3100 -730 0 V |
|
3101 3467 2625 Star |
|
3102 2737 2625 Star |
|
3103 4434 4137 Star |
|
3104 1.000 UP |
|
3105 1.000 UL |
|
3106 LT1 |
|
3107 4151 3997 M |
|
3108 (y \(inertial\)) Rshow |
|
3109 4235 3997 M |
|
3110 399 0 V |
|
3111 2737 2625 M |
|
3112 632 516 V |
|
3113 2737 2625 Star |
|
3114 3369 3141 Star |
|
3115 4434 3997 Star |
|
3116 1.000 UP |
|
3117 1.000 UL |
|
3118 LT2 |
|
3119 4151 3857 M |
|
3120 (z \(inertial\)) Rshow |
|
3121 4235 3857 M |
|
3122 399 0 V |
|
3123 2737 2625 M |
|
3124 365 -894 V |
|
3125 2737 2625 Box |
|
3126 3102 1731 Box |
|
3127 4434 3857 Box |
|
3128 1.000 UL |
|
3129 LT5 |
|
3130 4151 3717 M |
|
3131 (eigenaxis) Rshow |
|
3132 4235 3717 M |
|
3133 399 0 V |
|
3134 2737 2625 M |
|
3135 -365 894 V |
|
3136 -73 0 V |
|
3137 1.000 UL |
|
3138 LT3 |
|
3139 3200 1215 M |
|
3140 -1460 0 V |
|
3141 1010 3003 L |
|
3142 2274 4035 L |
|
3143 1460 0 V |
|
3144 4464 2247 L |
|
3145 3200 1215 L |
|
3146 4464 2247 L |
|
3147 -1460 0 V |
|
3148 2274 4035 L |
|
3149 3004 2247 L |
|
3150 1740 1215 L |
|
3151 1.000 UL |
|
3152 LT4 |
|
3153 3734 4035 M |
|
3154 2470 3003 L |
|
3155 -1460 0 V |
|
3156 1460 0 V |
|
3157 3200 1215 L |
|
3158 stroke |
|
3159 grestore |
|
3160 end |
|
3161 showpage |
|
3162 @endspecial 0 4911 1560 4 v 104 4965 a Fe(1)138 4997 |
|
3163 y Fc(due)28 b(to)g(details)h(of)g(visualization)h(soft)n(w)n(are,)h |
|
3164 (the)d Fb(x)18 b Fa(\000)g Fb(y)j Fa(\000)e Fb(z)31 b |
|
3165 Fc(axes)d(do)g(not)g(app)r(ear)h(as)g(a)f(righ)n(t-handed)f(co)r |
|
3166 (ordinate)j(system.)0 5088 y(Sorry)-6 b(.)p eop |
|
3167 10 9 bop 0 100 a Fn(A.)31 b(S.)f(Ho)s(del:)40 b(Quaternions)29 |
|
3168 b(\(In)m(tro)s(duction\))g Fo(R)q(ev)s(ision)d Fq(:)f(1)p |
|
3169 Fo(:)p Fq(1)421 b Fn(\(c\))31 b(1998)871 b Fq(10)50 2045 |
|
3170 y @beginspecial 50 @llx 50 @lly 410 @urx 302 @ury 2808 |
|
3171 @rwi @setspecial |
|
3172 /gnudict 120 dict def |
|
3173 gnudict begin |
|
3174 /Color false def |
|
3175 /Solid false def |
|
3176 /gnulinewidth 5.000 def |
|
3177 /userlinewidth gnulinewidth def |
|
3178 /vshift -46 def |
|
3179 /dl {10 mul} def |
|
3180 /hpt_ 31.5 def |
|
3181 /vpt_ 31.5 def |
|
3182 /hpt hpt_ def |
|
3183 /vpt vpt_ def |
|
3184 /M {moveto} bind def |
|
3185 /L {lineto} bind def |
|
3186 /R {rmoveto} bind def |
|
3187 /V {rlineto} bind def |
|
3188 /vpt2 vpt 2 mul def |
|
3189 /hpt2 hpt 2 mul def |
|
3190 /Lshow { currentpoint stroke M |
|
3191 0 vshift R show } def |
|
3192 /Rshow { currentpoint stroke M |
|
3193 dup stringwidth pop neg vshift R show } def |
|
3194 /Cshow { currentpoint stroke M |
|
3195 dup stringwidth pop -2 div vshift R show } def |
|
3196 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
3197 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
3198 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
3199 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
3200 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
3201 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
3202 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
3203 /PL { stroke userlinewidth setlinewidth } def |
|
3204 /LTb { BL [] 0 0 0 DL } def |
|
3205 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
3206 /LT0 { PL [] 0 1 0 DL } def |
|
3207 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
3208 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
3209 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
3210 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
3211 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
3212 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
3213 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
3214 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
3215 /Pnt { stroke [] 0 setdash |
|
3216 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
3217 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
3218 hpt neg vpt neg V hpt vpt neg V |
|
3219 hpt vpt V hpt neg vpt V closepath stroke |
|
3220 Pnt } def |
|
3221 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
3222 currentpoint stroke M |
|
3223 hpt neg vpt neg R hpt2 0 V stroke |
|
3224 } def |
|
3225 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
3226 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
3227 hpt2 neg 0 V closepath stroke |
|
3228 Pnt } def |
|
3229 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
3230 hpt2 vpt2 neg V currentpoint stroke M |
|
3231 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
3232 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
3233 hpt neg vpt -1.62 mul V |
|
3234 hpt 2 mul 0 V |
|
3235 hpt neg vpt 1.62 mul V closepath stroke |
|
3236 Pnt } def |
|
3237 /Star { 2 copy Pls Crs } def |
|
3238 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
3239 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
3240 hpt2 neg 0 V closepath fill } def |
|
3241 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
3242 hpt neg vpt -1.62 mul V |
|
3243 hpt 2 mul 0 V |
|
3244 hpt neg vpt 1.62 mul V closepath fill } def |
|
3245 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
3246 hpt neg vpt 1.62 mul V |
|
3247 hpt 2 mul 0 V |
|
3248 hpt neg vpt -1.62 mul V closepath stroke |
|
3249 Pnt } def |
|
3250 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
3251 hpt neg vpt 1.62 mul V |
|
3252 hpt 2 mul 0 V |
|
3253 hpt neg vpt -1.62 mul V closepath fill} def |
|
3254 /DiaF { stroke [] 0 setdash vpt add M |
|
3255 hpt neg vpt neg V hpt vpt neg V |
|
3256 hpt vpt V hpt neg vpt V closepath fill } def |
|
3257 /Pent { stroke [] 0 setdash 2 copy gsave |
|
3258 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
3259 closepath stroke grestore Pnt } def |
|
3260 /PentF { stroke [] 0 setdash gsave |
|
3261 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
3262 closepath fill grestore } def |
|
3263 /Circle { stroke [] 0 setdash 2 copy |
|
3264 hpt 0 360 arc stroke Pnt } def |
|
3265 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
3266 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
3267 /C1 { BL [] 0 setdash 2 copy moveto |
|
3268 2 copy vpt 0 90 arc closepath fill |
|
3269 vpt 0 360 arc closepath } bind def |
|
3270 /C2 { BL [] 0 setdash 2 copy moveto |
|
3271 2 copy vpt 90 180 arc closepath fill |
|
3272 vpt 0 360 arc closepath } bind def |
|
3273 /C3 { BL [] 0 setdash 2 copy moveto |
|
3274 2 copy vpt 0 180 arc closepath fill |
|
3275 vpt 0 360 arc closepath } bind def |
|
3276 /C4 { BL [] 0 setdash 2 copy moveto |
|
3277 2 copy vpt 180 270 arc closepath fill |
|
3278 vpt 0 360 arc closepath } bind def |
|
3279 /C5 { BL [] 0 setdash 2 copy moveto |
|
3280 2 copy vpt 0 90 arc |
|
3281 2 copy moveto |
|
3282 2 copy vpt 180 270 arc closepath fill |
|
3283 vpt 0 360 arc } bind def |
|
3284 /C6 { BL [] 0 setdash 2 copy moveto |
|
3285 2 copy vpt 90 270 arc closepath fill |
|
3286 vpt 0 360 arc closepath } bind def |
|
3287 /C7 { BL [] 0 setdash 2 copy moveto |
|
3288 2 copy vpt 0 270 arc closepath fill |
|
3289 vpt 0 360 arc closepath } bind def |
|
3290 /C8 { BL [] 0 setdash 2 copy moveto |
|
3291 2 copy vpt 270 360 arc closepath fill |
|
3292 vpt 0 360 arc closepath } bind def |
|
3293 /C9 { BL [] 0 setdash 2 copy moveto |
|
3294 2 copy vpt 270 450 arc closepath fill |
|
3295 vpt 0 360 arc closepath } bind def |
|
3296 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
3297 2 copy moveto |
|
3298 2 copy vpt 90 180 arc closepath fill |
|
3299 vpt 0 360 arc closepath } bind def |
|
3300 /C11 { BL [] 0 setdash 2 copy moveto |
|
3301 2 copy vpt 0 180 arc closepath fill |
|
3302 2 copy moveto |
|
3303 2 copy vpt 270 360 arc closepath fill |
|
3304 vpt 0 360 arc closepath } bind def |
|
3305 /C12 { BL [] 0 setdash 2 copy moveto |
|
3306 2 copy vpt 180 360 arc closepath fill |
|
3307 vpt 0 360 arc closepath } bind def |
|
3308 /C13 { BL [] 0 setdash 2 copy moveto |
|
3309 2 copy vpt 0 90 arc closepath fill |
|
3310 2 copy moveto |
|
3311 2 copy vpt 180 360 arc closepath fill |
|
3312 vpt 0 360 arc closepath } bind def |
|
3313 /C14 { BL [] 0 setdash 2 copy moveto |
|
3314 2 copy vpt 90 360 arc closepath fill |
|
3315 vpt 0 360 arc } bind def |
|
3316 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
3317 vpt 0 360 arc closepath } bind def |
|
3318 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
3319 neg 0 rlineto closepath } bind def |
|
3320 /Square { dup Rec } bind def |
|
3321 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
3322 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
3323 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
3324 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
3325 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
3326 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
3327 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
3328 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
3329 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
3330 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
3331 2 copy vpt Square fill |
|
3332 Bsquare } bind def |
|
3333 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
3334 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
3335 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
3336 Bsquare } bind def |
|
3337 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
3338 Bsquare } bind def |
|
3339 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
3340 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
3341 2 copy vpt Square fill Bsquare } bind def |
|
3342 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
3343 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
3344 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
3345 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
3346 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
3347 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
3348 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
3349 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
3350 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
3351 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
3352 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
3353 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
3354 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
3355 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
3356 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
3357 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
3358 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
3359 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
3360 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
3361 /DiaE { stroke [] 0 setdash vpt add M |
|
3362 hpt neg vpt neg V hpt vpt neg V |
|
3363 hpt vpt V hpt neg vpt V closepath stroke } def |
|
3364 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
3365 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
3366 hpt2 neg 0 V closepath stroke } def |
|
3367 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
3368 hpt neg vpt -1.62 mul V |
|
3369 hpt 2 mul 0 V |
|
3370 hpt neg vpt 1.62 mul V closepath stroke } def |
|
3371 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
3372 hpt neg vpt 1.62 mul V |
|
3373 hpt 2 mul 0 V |
|
3374 hpt neg vpt -1.62 mul V closepath stroke } def |
|
3375 /PentE { stroke [] 0 setdash gsave |
|
3376 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
3377 closepath stroke grestore } def |
|
3378 /CircE { stroke [] 0 setdash |
|
3379 hpt 0 360 arc stroke } def |
|
3380 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
3381 end |
|
3382 gnudict begin |
|
3383 gsave |
|
3384 50 50 translate |
|
3385 0.050 0.050 scale |
|
3386 0 setgray |
|
3387 newpath |
|
3388 (Helvetica) findfont 140 scalefont setfont |
|
3389 LTb |
|
3390 672 560 M |
|
3391 63 0 V |
|
3392 4067 0 R |
|
3393 -63 0 V |
|
3394 588 560 M |
|
3395 (-2) Rshow |
|
3396 672 1076 M |
|
3397 63 0 V |
|
3398 4067 0 R |
|
3399 -63 0 V |
|
3400 -4151 0 R |
|
3401 (-1.5) Rshow |
|
3402 672 1593 M |
|
3403 63 0 V |
|
3404 4067 0 R |
|
3405 -63 0 V |
|
3406 -4151 0 R |
|
3407 (-1) Rshow |
|
3408 672 2109 M |
|
3409 63 0 V |
|
3410 4067 0 R |
|
3411 -63 0 V |
|
3412 -4151 0 R |
|
3413 (-0.5) Rshow |
|
3414 672 2625 M |
|
3415 63 0 V |
|
3416 4067 0 R |
|
3417 -63 0 V |
|
3418 -4151 0 R |
|
3419 (0) Rshow |
|
3420 672 3141 M |
|
3421 63 0 V |
|
3422 4067 0 R |
|
3423 -63 0 V |
|
3424 -4151 0 R |
|
3425 (0.5) Rshow |
|
3426 672 3658 M |
|
3427 63 0 V |
|
3428 4067 0 R |
|
3429 -63 0 V |
|
3430 -4151 0 R |
|
3431 (1) Rshow |
|
3432 672 4174 M |
|
3433 63 0 V |
|
3434 4067 0 R |
|
3435 -63 0 V |
|
3436 -4151 0 R |
|
3437 (1.5) Rshow |
|
3438 672 4690 M |
|
3439 63 0 V |
|
3440 4067 0 R |
|
3441 -63 0 V |
|
3442 -4151 0 R |
|
3443 (2) Rshow |
|
3444 672 560 M |
|
3445 0 63 V |
|
3446 0 4067 R |
|
3447 0 -63 V |
|
3448 672 420 M |
|
3449 (-2) Cshow |
|
3450 1188 560 M |
|
3451 0 63 V |
|
3452 0 4067 R |
|
3453 0 -63 V |
|
3454 0 -4207 R |
|
3455 (-1.5) Cshow |
|
3456 1705 560 M |
|
3457 0 63 V |
|
3458 0 4067 R |
|
3459 0 -63 V |
|
3460 0 -4207 R |
|
3461 (-1) Cshow |
|
3462 2221 560 M |
|
3463 0 63 V |
|
3464 0 4067 R |
|
3465 0 -63 V |
|
3466 0 -4207 R |
|
3467 (-0.5) Cshow |
|
3468 2737 560 M |
|
3469 0 63 V |
|
3470 0 4067 R |
|
3471 0 -63 V |
|
3472 0 -4207 R |
|
3473 (0) Cshow |
|
3474 3253 560 M |
|
3475 0 63 V |
|
3476 0 4067 R |
|
3477 0 -63 V |
|
3478 0 -4207 R |
|
3479 (0.5) Cshow |
|
3480 3770 560 M |
|
3481 0 63 V |
|
3482 0 4067 R |
|
3483 0 -63 V |
|
3484 0 -4207 R |
|
3485 (1) Cshow |
|
3486 4286 560 M |
|
3487 0 63 V |
|
3488 0 4067 R |
|
3489 0 -63 V |
|
3490 0 -4207 R |
|
3491 (1.5) Cshow |
|
3492 4802 560 M |
|
3493 0 63 V |
|
3494 0 4067 R |
|
3495 0 -63 V |
|
3496 0 -4207 R |
|
3497 (2) Cshow |
|
3498 LTb |
|
3499 672 560 M |
|
3500 4130 0 V |
|
3501 0 4130 V |
|
3502 -4130 0 V |
|
3503 672 560 L |
|
3504 2737 210 M |
|
3505 (rotate about eigenaxis 5.00 deg) Cshow |
|
3506 2737 4900 M |
|
3507 (yaw= 5.00 deg, pitch= 0.00 deg) Cshow |
|
3508 1.000 UP |
|
3509 1.000 UL |
|
3510 LT0 |
|
3511 4151 4557 M |
|
3512 (x \(body\)) Rshow |
|
3513 4235 4557 M |
|
3514 399 0 V |
|
3515 3409 2580 M |
|
3516 -672 45 V |
|
3517 3409 2580 Pls |
|
3518 2737 2625 Pls |
|
3519 4434 4557 Pls |
|
3520 1.000 UP |
|
3521 1.000 UL |
|
3522 LT1 |
|
3523 4151 4417 M |
|
3524 (y \(body\)) Rshow |
|
3525 4235 4417 M |
|
3526 399 0 V |
|
3527 2737 2625 M |
|
3528 693 514 V |
|
3529 2737 2625 Pls |
|
3530 3430 3139 Pls |
|
3531 4434 4417 Pls |
|
3532 1.000 UP |
|
3533 1.000 UL |
|
3534 LT2 |
|
3535 4151 4277 M |
|
3536 (z \(body\)) Rshow |
|
3537 4235 4277 M |
|
3538 399 0 V |
|
3539 2737 2625 M |
|
3540 365 -894 V |
|
3541 2737 2625 Crs |
|
3542 3102 1731 Crs |
|
3543 4434 4277 Crs |
|
3544 1.000 UP |
|
3545 1.000 UL |
|
3546 LT0 |
|
3547 4151 4137 M |
|
3548 (x \(inertial\)) Rshow |
|
3549 4235 4137 M |
|
3550 399 0 V |
|
3551 3467 2625 M |
|
3552 -730 0 V |
|
3553 3467 2625 Star |
|
3554 2737 2625 Star |
|
3555 4434 4137 Star |
|
3556 1.000 UP |
|
3557 1.000 UL |
|
3558 LT1 |
|
3559 4151 3997 M |
|
3560 (y \(inertial\)) Rshow |
|
3561 4235 3997 M |
|
3562 399 0 V |
|
3563 2737 2625 M |
|
3564 632 516 V |
|
3565 2737 2625 Star |
|
3566 3369 3141 Star |
|
3567 4434 3997 Star |
|
3568 1.000 UP |
|
3569 1.000 UL |
|
3570 LT2 |
|
3571 4151 3857 M |
|
3572 (z \(inertial\)) Rshow |
|
3573 4235 3857 M |
|
3574 399 0 V |
|
3575 2737 2625 M |
|
3576 365 -894 V |
|
3577 2737 2625 Box |
|
3578 3102 1731 Box |
|
3579 4434 3857 Box |
|
3580 1.000 UL |
|
3581 LT5 |
|
3582 4151 3717 M |
|
3583 (eigenaxis) Rshow |
|
3584 4235 3717 M |
|
3585 399 0 V |
|
3586 2737 2625 M |
|
3587 -365 894 V |
|
3588 78 5 V |
|
3589 10 10 V |
|
3590 6 10 V |
|
3591 3 9 V |
|
3592 -3 7 V |
|
3593 -6 6 V |
|
3594 -10 3 V |
|
3595 -14 2 V |
|
3596 -16 -1 V |
|
3597 -18 -3 V |
|
3598 -20 -6 V |
|
3599 1.000 UL |
|
3600 LT3 |
|
3601 3200 1215 M |
|
3602 -1460 0 V |
|
3603 1010 3003 L |
|
3604 2274 4035 L |
|
3605 1460 0 V |
|
3606 4464 2247 L |
|
3607 3200 1215 L |
|
3608 4464 2247 L |
|
3609 -1460 0 V |
|
3610 2274 4035 L |
|
3611 3004 2247 L |
|
3612 1740 1215 L |
|
3613 1.000 UL |
|
3614 LT4 |
|
3615 3734 4035 M |
|
3616 2470 3003 L |
|
3617 -1460 0 V |
|
3618 1460 0 V |
|
3619 3200 1215 L |
|
3620 stroke |
|
3621 grestore |
|
3622 end |
|
3623 showpage |
|
3624 @endspecial 2050 w @beginspecial 50 @llx 50 @lly 410 |
|
3625 @urx 302 @ury 2808 @rwi @setspecial |
|
3626 /gnudict 120 dict def |
|
3627 gnudict begin |
|
3628 /Color false def |
|
3629 /Solid false def |
|
3630 /gnulinewidth 5.000 def |
|
3631 /userlinewidth gnulinewidth def |
|
3632 /vshift -46 def |
|
3633 /dl {10 mul} def |
|
3634 /hpt_ 31.5 def |
|
3635 /vpt_ 31.5 def |
|
3636 /hpt hpt_ def |
|
3637 /vpt vpt_ def |
|
3638 /M {moveto} bind def |
|
3639 /L {lineto} bind def |
|
3640 /R {rmoveto} bind def |
|
3641 /V {rlineto} bind def |
|
3642 /vpt2 vpt 2 mul def |
|
3643 /hpt2 hpt 2 mul def |
|
3644 /Lshow { currentpoint stroke M |
|
3645 0 vshift R show } def |
|
3646 /Rshow { currentpoint stroke M |
|
3647 dup stringwidth pop neg vshift R show } def |
|
3648 /Cshow { currentpoint stroke M |
|
3649 dup stringwidth pop -2 div vshift R show } def |
|
3650 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
3651 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
3652 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
3653 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
3654 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
3655 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
3656 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
3657 /PL { stroke userlinewidth setlinewidth } def |
|
3658 /LTb { BL [] 0 0 0 DL } def |
|
3659 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
3660 /LT0 { PL [] 0 1 0 DL } def |
|
3661 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
3662 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
3663 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
3664 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
3665 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
3666 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
3667 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
3668 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
3669 /Pnt { stroke [] 0 setdash |
|
3670 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
3671 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
3672 hpt neg vpt neg V hpt vpt neg V |
|
3673 hpt vpt V hpt neg vpt V closepath stroke |
|
3674 Pnt } def |
|
3675 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
3676 currentpoint stroke M |
|
3677 hpt neg vpt neg R hpt2 0 V stroke |
|
3678 } def |
|
3679 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
3680 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
3681 hpt2 neg 0 V closepath stroke |
|
3682 Pnt } def |
|
3683 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
3684 hpt2 vpt2 neg V currentpoint stroke M |
|
3685 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
3686 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
3687 hpt neg vpt -1.62 mul V |
|
3688 hpt 2 mul 0 V |
|
3689 hpt neg vpt 1.62 mul V closepath stroke |
|
3690 Pnt } def |
|
3691 /Star { 2 copy Pls Crs } def |
|
3692 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
3693 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
3694 hpt2 neg 0 V closepath fill } def |
|
3695 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
3696 hpt neg vpt -1.62 mul V |
|
3697 hpt 2 mul 0 V |
|
3698 hpt neg vpt 1.62 mul V closepath fill } def |
|
3699 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
3700 hpt neg vpt 1.62 mul V |
|
3701 hpt 2 mul 0 V |
|
3702 hpt neg vpt -1.62 mul V closepath stroke |
|
3703 Pnt } def |
|
3704 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
3705 hpt neg vpt 1.62 mul V |
|
3706 hpt 2 mul 0 V |
|
3707 hpt neg vpt -1.62 mul V closepath fill} def |
|
3708 /DiaF { stroke [] 0 setdash vpt add M |
|
3709 hpt neg vpt neg V hpt vpt neg V |
|
3710 hpt vpt V hpt neg vpt V closepath fill } def |
|
3711 /Pent { stroke [] 0 setdash 2 copy gsave |
|
3712 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
3713 closepath stroke grestore Pnt } def |
|
3714 /PentF { stroke [] 0 setdash gsave |
|
3715 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
3716 closepath fill grestore } def |
|
3717 /Circle { stroke [] 0 setdash 2 copy |
|
3718 hpt 0 360 arc stroke Pnt } def |
|
3719 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
3720 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
3721 /C1 { BL [] 0 setdash 2 copy moveto |
|
3722 2 copy vpt 0 90 arc closepath fill |
|
3723 vpt 0 360 arc closepath } bind def |
|
3724 /C2 { BL [] 0 setdash 2 copy moveto |
|
3725 2 copy vpt 90 180 arc closepath fill |
|
3726 vpt 0 360 arc closepath } bind def |
|
3727 /C3 { BL [] 0 setdash 2 copy moveto |
|
3728 2 copy vpt 0 180 arc closepath fill |
|
3729 vpt 0 360 arc closepath } bind def |
|
3730 /C4 { BL [] 0 setdash 2 copy moveto |
|
3731 2 copy vpt 180 270 arc closepath fill |
|
3732 vpt 0 360 arc closepath } bind def |
|
3733 /C5 { BL [] 0 setdash 2 copy moveto |
|
3734 2 copy vpt 0 90 arc |
|
3735 2 copy moveto |
|
3736 2 copy vpt 180 270 arc closepath fill |
|
3737 vpt 0 360 arc } bind def |
|
3738 /C6 { BL [] 0 setdash 2 copy moveto |
|
3739 2 copy vpt 90 270 arc closepath fill |
|
3740 vpt 0 360 arc closepath } bind def |
|
3741 /C7 { BL [] 0 setdash 2 copy moveto |
|
3742 2 copy vpt 0 270 arc closepath fill |
|
3743 vpt 0 360 arc closepath } bind def |
|
3744 /C8 { BL [] 0 setdash 2 copy moveto |
|
3745 2 copy vpt 270 360 arc closepath fill |
|
3746 vpt 0 360 arc closepath } bind def |
|
3747 /C9 { BL [] 0 setdash 2 copy moveto |
|
3748 2 copy vpt 270 450 arc closepath fill |
|
3749 vpt 0 360 arc closepath } bind def |
|
3750 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
3751 2 copy moveto |
|
3752 2 copy vpt 90 180 arc closepath fill |
|
3753 vpt 0 360 arc closepath } bind def |
|
3754 /C11 { BL [] 0 setdash 2 copy moveto |
|
3755 2 copy vpt 0 180 arc closepath fill |
|
3756 2 copy moveto |
|
3757 2 copy vpt 270 360 arc closepath fill |
|
3758 vpt 0 360 arc closepath } bind def |
|
3759 /C12 { BL [] 0 setdash 2 copy moveto |
|
3760 2 copy vpt 180 360 arc closepath fill |
|
3761 vpt 0 360 arc closepath } bind def |
|
3762 /C13 { BL [] 0 setdash 2 copy moveto |
|
3763 2 copy vpt 0 90 arc closepath fill |
|
3764 2 copy moveto |
|
3765 2 copy vpt 180 360 arc closepath fill |
|
3766 vpt 0 360 arc closepath } bind def |
|
3767 /C14 { BL [] 0 setdash 2 copy moveto |
|
3768 2 copy vpt 90 360 arc closepath fill |
|
3769 vpt 0 360 arc } bind def |
|
3770 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
3771 vpt 0 360 arc closepath } bind def |
|
3772 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
3773 neg 0 rlineto closepath } bind def |
|
3774 /Square { dup Rec } bind def |
|
3775 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
3776 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
3777 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
3778 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
3779 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
3780 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
3781 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
3782 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
3783 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
3784 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
3785 2 copy vpt Square fill |
|
3786 Bsquare } bind def |
|
3787 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
3788 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
3789 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
3790 Bsquare } bind def |
|
3791 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
3792 Bsquare } bind def |
|
3793 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
3794 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
3795 2 copy vpt Square fill Bsquare } bind def |
|
3796 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
3797 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
3798 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
3799 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
3800 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
3801 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
3802 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
3803 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
3804 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
3805 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
3806 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
3807 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
3808 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
3809 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
3810 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
3811 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
3812 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
3813 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
3814 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
3815 /DiaE { stroke [] 0 setdash vpt add M |
|
3816 hpt neg vpt neg V hpt vpt neg V |
|
3817 hpt vpt V hpt neg vpt V closepath stroke } def |
|
3818 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
3819 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
3820 hpt2 neg 0 V closepath stroke } def |
|
3821 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
3822 hpt neg vpt -1.62 mul V |
|
3823 hpt 2 mul 0 V |
|
3824 hpt neg vpt 1.62 mul V closepath stroke } def |
|
3825 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
3826 hpt neg vpt 1.62 mul V |
|
3827 hpt 2 mul 0 V |
|
3828 hpt neg vpt -1.62 mul V closepath stroke } def |
|
3829 /PentE { stroke [] 0 setdash gsave |
|
3830 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
3831 closepath stroke grestore } def |
|
3832 /CircE { stroke [] 0 setdash |
|
3833 hpt 0 360 arc stroke } def |
|
3834 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
3835 end |
|
3836 gnudict begin |
|
3837 gsave |
|
3838 50 50 translate |
|
3839 0.050 0.050 scale |
|
3840 0 setgray |
|
3841 newpath |
|
3842 (Helvetica) findfont 140 scalefont setfont |
|
3843 LTb |
|
3844 672 560 M |
|
3845 63 0 V |
|
3846 4067 0 R |
|
3847 -63 0 V |
|
3848 588 560 M |
|
3849 (-2) Rshow |
|
3850 672 1076 M |
|
3851 63 0 V |
|
3852 4067 0 R |
|
3853 -63 0 V |
|
3854 -4151 0 R |
|
3855 (-1.5) Rshow |
|
3856 672 1593 M |
|
3857 63 0 V |
|
3858 4067 0 R |
|
3859 -63 0 V |
|
3860 -4151 0 R |
|
3861 (-1) Rshow |
|
3862 672 2109 M |
|
3863 63 0 V |
|
3864 4067 0 R |
|
3865 -63 0 V |
|
3866 -4151 0 R |
|
3867 (-0.5) Rshow |
|
3868 672 2625 M |
|
3869 63 0 V |
|
3870 4067 0 R |
|
3871 -63 0 V |
|
3872 -4151 0 R |
|
3873 (0) Rshow |
|
3874 672 3141 M |
|
3875 63 0 V |
|
3876 4067 0 R |
|
3877 -63 0 V |
|
3878 -4151 0 R |
|
3879 (0.5) Rshow |
|
3880 672 3658 M |
|
3881 63 0 V |
|
3882 4067 0 R |
|
3883 -63 0 V |
|
3884 -4151 0 R |
|
3885 (1) Rshow |
|
3886 672 4174 M |
|
3887 63 0 V |
|
3888 4067 0 R |
|
3889 -63 0 V |
|
3890 -4151 0 R |
|
3891 (1.5) Rshow |
|
3892 672 4690 M |
|
3893 63 0 V |
|
3894 4067 0 R |
|
3895 -63 0 V |
|
3896 -4151 0 R |
|
3897 (2) Rshow |
|
3898 672 560 M |
|
3899 0 63 V |
|
3900 0 4067 R |
|
3901 0 -63 V |
|
3902 672 420 M |
|
3903 (-2) Cshow |
|
3904 1188 560 M |
|
3905 0 63 V |
|
3906 0 4067 R |
|
3907 0 -63 V |
|
3908 0 -4207 R |
|
3909 (-1.5) Cshow |
|
3910 1705 560 M |
|
3911 0 63 V |
|
3912 0 4067 R |
|
3913 0 -63 V |
|
3914 0 -4207 R |
|
3915 (-1) Cshow |
|
3916 2221 560 M |
|
3917 0 63 V |
|
3918 0 4067 R |
|
3919 0 -63 V |
|
3920 0 -4207 R |
|
3921 (-0.5) Cshow |
|
3922 2737 560 M |
|
3923 0 63 V |
|
3924 0 4067 R |
|
3925 0 -63 V |
|
3926 0 -4207 R |
|
3927 (0) Cshow |
|
3928 3253 560 M |
|
3929 0 63 V |
|
3930 0 4067 R |
|
3931 0 -63 V |
|
3932 0 -4207 R |
|
3933 (0.5) Cshow |
|
3934 3770 560 M |
|
3935 0 63 V |
|
3936 0 4067 R |
|
3937 0 -63 V |
|
3938 0 -4207 R |
|
3939 (1) Cshow |
|
3940 4286 560 M |
|
3941 0 63 V |
|
3942 0 4067 R |
|
3943 0 -63 V |
|
3944 0 -4207 R |
|
3945 (1.5) Cshow |
|
3946 4802 560 M |
|
3947 0 63 V |
|
3948 0 4067 R |
|
3949 0 -63 V |
|
3950 0 -4207 R |
|
3951 (2) Cshow |
|
3952 LTb |
|
3953 672 560 M |
|
3954 4130 0 V |
|
3955 0 4130 V |
|
3956 -4130 0 V |
|
3957 672 560 L |
|
3958 2737 210 M |
|
3959 (rotate about eigenaxis 10.00 deg) Cshow |
|
3960 2737 4900 M |
|
3961 (yaw=10.00 deg, pitch= 0.00 deg) Cshow |
|
3962 1.000 UP |
|
3963 1.000 UL |
|
3964 LT0 |
|
3965 4151 4557 M |
|
3966 (x \(body\)) Rshow |
|
3967 4235 4557 M |
|
3968 399 0 V |
|
3969 3346 2535 M |
|
3970 -609 90 V |
|
3971 3346 2535 Pls |
|
3972 2737 2625 Pls |
|
3973 4434 4557 Pls |
|
3974 1.000 UP |
|
3975 1.000 UL |
|
3976 LT1 |
|
3977 4151 4417 M |
|
3978 (y \(body\)) Rshow |
|
3979 4235 4417 M |
|
3980 399 0 V |
|
3981 2737 2625 M |
|
3982 749 508 V |
|
3983 2737 2625 Pls |
|
3984 3486 3133 Pls |
|
3985 4434 4417 Pls |
|
3986 1.000 UP |
|
3987 1.000 UL |
|
3988 LT2 |
|
3989 4151 4277 M |
|
3990 (z \(body\)) Rshow |
|
3991 4235 4277 M |
|
3992 399 0 V |
|
3993 2737 2625 M |
|
3994 365 -894 V |
|
3995 2737 2625 Crs |
|
3996 3102 1731 Crs |
|
3997 4434 4277 Crs |
|
3998 1.000 UP |
|
3999 1.000 UL |
|
4000 LT0 |
|
4001 4151 4137 M |
|
4002 (x \(inertial\)) Rshow |
|
4003 4235 4137 M |
|
4004 399 0 V |
|
4005 3467 2625 M |
|
4006 -730 0 V |
|
4007 3467 2625 Star |
|
4008 2737 2625 Star |
|
4009 4434 4137 Star |
|
4010 1.000 UP |
|
4011 1.000 UL |
|
4012 LT1 |
|
4013 4151 3997 M |
|
4014 (y \(inertial\)) Rshow |
|
4015 4235 3997 M |
|
4016 399 0 V |
|
4017 2737 2625 M |
|
4018 632 516 V |
|
4019 2737 2625 Star |
|
4020 3369 3141 Star |
|
4021 4434 3997 Star |
|
4022 1.000 UP |
|
4023 1.000 UL |
|
4024 LT2 |
|
4025 4151 3857 M |
|
4026 (z \(inertial\)) Rshow |
|
4027 4235 3857 M |
|
4028 399 0 V |
|
4029 2737 2625 M |
|
4030 365 -894 V |
|
4031 2737 2625 Box |
|
4032 3102 1731 Box |
|
4033 4434 3857 Box |
|
4034 1.000 UL |
|
4035 LT5 |
|
4036 4151 3717 M |
|
4037 (eigenaxis) Rshow |
|
4038 4235 3717 M |
|
4039 399 0 V |
|
4040 2737 2625 M |
|
4041 -365 894 V |
|
4042 83 9 V |
|
4043 8 11 V |
|
4044 5 9 V |
|
4045 0 8 V |
|
4046 -4 7 V |
|
4047 -8 5 V |
|
4048 -11 2 V |
|
4049 -15 1 V |
|
4050 -17 -2 V |
|
4051 -19 -4 V |
|
4052 -21 -6 V |
|
4053 1.000 UL |
|
4054 LT3 |
|
4055 3200 1215 M |
|
4056 -1460 0 V |
|
4057 1010 3003 L |
|
4058 2274 4035 L |
|
4059 1460 0 V |
|
4060 4464 2247 L |
|
4061 3200 1215 L |
|
4062 4464 2247 L |
|
4063 -1460 0 V |
|
4064 2274 4035 L |
|
4065 3004 2247 L |
|
4066 1740 1215 L |
|
4067 1.000 UL |
|
4068 LT4 |
|
4069 3734 4035 M |
|
4070 2470 3003 L |
|
4071 -1460 0 V |
|
4072 1460 0 V |
|
4073 3200 1215 L |
|
4074 stroke |
|
4075 grestore |
|
4076 end |
|
4077 showpage |
|
4078 @endspecial 50 3833 a @beginspecial 50 @llx 50 @lly |
|
4079 410 @urx 302 @ury 2808 @rwi @setspecial |
|
4080 /gnudict 120 dict def |
|
4081 gnudict begin |
|
4082 /Color false def |
|
4083 /Solid false def |
|
4084 /gnulinewidth 5.000 def |
|
4085 /userlinewidth gnulinewidth def |
|
4086 /vshift -46 def |
|
4087 /dl {10 mul} def |
|
4088 /hpt_ 31.5 def |
|
4089 /vpt_ 31.5 def |
|
4090 /hpt hpt_ def |
|
4091 /vpt vpt_ def |
|
4092 /M {moveto} bind def |
|
4093 /L {lineto} bind def |
|
4094 /R {rmoveto} bind def |
|
4095 /V {rlineto} bind def |
|
4096 /vpt2 vpt 2 mul def |
|
4097 /hpt2 hpt 2 mul def |
|
4098 /Lshow { currentpoint stroke M |
|
4099 0 vshift R show } def |
|
4100 /Rshow { currentpoint stroke M |
|
4101 dup stringwidth pop neg vshift R show } def |
|
4102 /Cshow { currentpoint stroke M |
|
4103 dup stringwidth pop -2 div vshift R show } def |
|
4104 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
4105 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
4106 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
4107 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
4108 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
4109 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
4110 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
4111 /PL { stroke userlinewidth setlinewidth } def |
|
4112 /LTb { BL [] 0 0 0 DL } def |
|
4113 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
4114 /LT0 { PL [] 0 1 0 DL } def |
|
4115 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
4116 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
4117 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
4118 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
4119 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
4120 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
4121 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
4122 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
4123 /Pnt { stroke [] 0 setdash |
|
4124 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
4125 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
4126 hpt neg vpt neg V hpt vpt neg V |
|
4127 hpt vpt V hpt neg vpt V closepath stroke |
|
4128 Pnt } def |
|
4129 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
4130 currentpoint stroke M |
|
4131 hpt neg vpt neg R hpt2 0 V stroke |
|
4132 } def |
|
4133 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
4134 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
4135 hpt2 neg 0 V closepath stroke |
|
4136 Pnt } def |
|
4137 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
4138 hpt2 vpt2 neg V currentpoint stroke M |
|
4139 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
4140 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
4141 hpt neg vpt -1.62 mul V |
|
4142 hpt 2 mul 0 V |
|
4143 hpt neg vpt 1.62 mul V closepath stroke |
|
4144 Pnt } def |
|
4145 /Star { 2 copy Pls Crs } def |
|
4146 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
4147 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
4148 hpt2 neg 0 V closepath fill } def |
|
4149 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
4150 hpt neg vpt -1.62 mul V |
|
4151 hpt 2 mul 0 V |
|
4152 hpt neg vpt 1.62 mul V closepath fill } def |
|
4153 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
4154 hpt neg vpt 1.62 mul V |
|
4155 hpt 2 mul 0 V |
|
4156 hpt neg vpt -1.62 mul V closepath stroke |
|
4157 Pnt } def |
|
4158 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
4159 hpt neg vpt 1.62 mul V |
|
4160 hpt 2 mul 0 V |
|
4161 hpt neg vpt -1.62 mul V closepath fill} def |
|
4162 /DiaF { stroke [] 0 setdash vpt add M |
|
4163 hpt neg vpt neg V hpt vpt neg V |
|
4164 hpt vpt V hpt neg vpt V closepath fill } def |
|
4165 /Pent { stroke [] 0 setdash 2 copy gsave |
|
4166 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
4167 closepath stroke grestore Pnt } def |
|
4168 /PentF { stroke [] 0 setdash gsave |
|
4169 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
4170 closepath fill grestore } def |
|
4171 /Circle { stroke [] 0 setdash 2 copy |
|
4172 hpt 0 360 arc stroke Pnt } def |
|
4173 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
4174 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
4175 /C1 { BL [] 0 setdash 2 copy moveto |
|
4176 2 copy vpt 0 90 arc closepath fill |
|
4177 vpt 0 360 arc closepath } bind def |
|
4178 /C2 { BL [] 0 setdash 2 copy moveto |
|
4179 2 copy vpt 90 180 arc closepath fill |
|
4180 vpt 0 360 arc closepath } bind def |
|
4181 /C3 { BL [] 0 setdash 2 copy moveto |
|
4182 2 copy vpt 0 180 arc closepath fill |
|
4183 vpt 0 360 arc closepath } bind def |
|
4184 /C4 { BL [] 0 setdash 2 copy moveto |
|
4185 2 copy vpt 180 270 arc closepath fill |
|
4186 vpt 0 360 arc closepath } bind def |
|
4187 /C5 { BL [] 0 setdash 2 copy moveto |
|
4188 2 copy vpt 0 90 arc |
|
4189 2 copy moveto |
|
4190 2 copy vpt 180 270 arc closepath fill |
|
4191 vpt 0 360 arc } bind def |
|
4192 /C6 { BL [] 0 setdash 2 copy moveto |
|
4193 2 copy vpt 90 270 arc closepath fill |
|
4194 vpt 0 360 arc closepath } bind def |
|
4195 /C7 { BL [] 0 setdash 2 copy moveto |
|
4196 2 copy vpt 0 270 arc closepath fill |
|
4197 vpt 0 360 arc closepath } bind def |
|
4198 /C8 { BL [] 0 setdash 2 copy moveto |
|
4199 2 copy vpt 270 360 arc closepath fill |
|
4200 vpt 0 360 arc closepath } bind def |
|
4201 /C9 { BL [] 0 setdash 2 copy moveto |
|
4202 2 copy vpt 270 450 arc closepath fill |
|
4203 vpt 0 360 arc closepath } bind def |
|
4204 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
4205 2 copy moveto |
|
4206 2 copy vpt 90 180 arc closepath fill |
|
4207 vpt 0 360 arc closepath } bind def |
|
4208 /C11 { BL [] 0 setdash 2 copy moveto |
|
4209 2 copy vpt 0 180 arc closepath fill |
|
4210 2 copy moveto |
|
4211 2 copy vpt 270 360 arc closepath fill |
|
4212 vpt 0 360 arc closepath } bind def |
|
4213 /C12 { BL [] 0 setdash 2 copy moveto |
|
4214 2 copy vpt 180 360 arc closepath fill |
|
4215 vpt 0 360 arc closepath } bind def |
|
4216 /C13 { BL [] 0 setdash 2 copy moveto |
|
4217 2 copy vpt 0 90 arc closepath fill |
|
4218 2 copy moveto |
|
4219 2 copy vpt 180 360 arc closepath fill |
|
4220 vpt 0 360 arc closepath } bind def |
|
4221 /C14 { BL [] 0 setdash 2 copy moveto |
|
4222 2 copy vpt 90 360 arc closepath fill |
|
4223 vpt 0 360 arc } bind def |
|
4224 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
4225 vpt 0 360 arc closepath } bind def |
|
4226 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
4227 neg 0 rlineto closepath } bind def |
|
4228 /Square { dup Rec } bind def |
|
4229 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
4230 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
4231 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
4232 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
4233 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
4234 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
4235 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
4236 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
4237 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
4238 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
4239 2 copy vpt Square fill |
|
4240 Bsquare } bind def |
|
4241 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
4242 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
4243 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
4244 Bsquare } bind def |
|
4245 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
4246 Bsquare } bind def |
|
4247 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
4248 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
4249 2 copy vpt Square fill Bsquare } bind def |
|
4250 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
4251 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
4252 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
4253 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
4254 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
4255 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
4256 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
4257 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
4258 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
4259 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
4260 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
4261 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
4262 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
4263 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
4264 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
4265 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
4266 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
4267 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
4268 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
4269 /DiaE { stroke [] 0 setdash vpt add M |
|
4270 hpt neg vpt neg V hpt vpt neg V |
|
4271 hpt vpt V hpt neg vpt V closepath stroke } def |
|
4272 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
4273 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
4274 hpt2 neg 0 V closepath stroke } def |
|
4275 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
4276 hpt neg vpt -1.62 mul V |
|
4277 hpt 2 mul 0 V |
|
4278 hpt neg vpt 1.62 mul V closepath stroke } def |
|
4279 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
4280 hpt neg vpt 1.62 mul V |
|
4281 hpt 2 mul 0 V |
|
4282 hpt neg vpt -1.62 mul V closepath stroke } def |
|
4283 /PentE { stroke [] 0 setdash gsave |
|
4284 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
4285 closepath stroke grestore } def |
|
4286 /CircE { stroke [] 0 setdash |
|
4287 hpt 0 360 arc stroke } def |
|
4288 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
4289 end |
|
4290 gnudict begin |
|
4291 gsave |
|
4292 50 50 translate |
|
4293 0.050 0.050 scale |
|
4294 0 setgray |
|
4295 newpath |
|
4296 (Helvetica) findfont 140 scalefont setfont |
|
4297 LTb |
|
4298 672 560 M |
|
4299 63 0 V |
|
4300 4067 0 R |
|
4301 -63 0 V |
|
4302 588 560 M |
|
4303 (-2) Rshow |
|
4304 672 1076 M |
|
4305 63 0 V |
|
4306 4067 0 R |
|
4307 -63 0 V |
|
4308 -4151 0 R |
|
4309 (-1.5) Rshow |
|
4310 672 1593 M |
|
4311 63 0 V |
|
4312 4067 0 R |
|
4313 -63 0 V |
|
4314 -4151 0 R |
|
4315 (-1) Rshow |
|
4316 672 2109 M |
|
4317 63 0 V |
|
4318 4067 0 R |
|
4319 -63 0 V |
|
4320 -4151 0 R |
|
4321 (-0.5) Rshow |
|
4322 672 2625 M |
|
4323 63 0 V |
|
4324 4067 0 R |
|
4325 -63 0 V |
|
4326 -4151 0 R |
|
4327 (0) Rshow |
|
4328 672 3141 M |
|
4329 63 0 V |
|
4330 4067 0 R |
|
4331 -63 0 V |
|
4332 -4151 0 R |
|
4333 (0.5) Rshow |
|
4334 672 3658 M |
|
4335 63 0 V |
|
4336 4067 0 R |
|
4337 -63 0 V |
|
4338 -4151 0 R |
|
4339 (1) Rshow |
|
4340 672 4174 M |
|
4341 63 0 V |
|
4342 4067 0 R |
|
4343 -63 0 V |
|
4344 -4151 0 R |
|
4345 (1.5) Rshow |
|
4346 672 4690 M |
|
4347 63 0 V |
|
4348 4067 0 R |
|
4349 -63 0 V |
|
4350 -4151 0 R |
|
4351 (2) Rshow |
|
4352 672 560 M |
|
4353 0 63 V |
|
4354 0 4067 R |
|
4355 0 -63 V |
|
4356 672 420 M |
|
4357 (-2) Cshow |
|
4358 1188 560 M |
|
4359 0 63 V |
|
4360 0 4067 R |
|
4361 0 -63 V |
|
4362 0 -4207 R |
|
4363 (-1.5) Cshow |
|
4364 1705 560 M |
|
4365 0 63 V |
|
4366 0 4067 R |
|
4367 0 -63 V |
|
4368 0 -4207 R |
|
4369 (-1) Cshow |
|
4370 2221 560 M |
|
4371 0 63 V |
|
4372 0 4067 R |
|
4373 0 -63 V |
|
4374 0 -4207 R |
|
4375 (-0.5) Cshow |
|
4376 2737 560 M |
|
4377 0 63 V |
|
4378 0 4067 R |
|
4379 0 -63 V |
|
4380 0 -4207 R |
|
4381 (0) Cshow |
|
4382 3253 560 M |
|
4383 0 63 V |
|
4384 0 4067 R |
|
4385 0 -63 V |
|
4386 0 -4207 R |
|
4387 (0.5) Cshow |
|
4388 3770 560 M |
|
4389 0 63 V |
|
4390 0 4067 R |
|
4391 0 -63 V |
|
4392 0 -4207 R |
|
4393 (1) Cshow |
|
4394 4286 560 M |
|
4395 0 63 V |
|
4396 0 4067 R |
|
4397 0 -63 V |
|
4398 0 -4207 R |
|
4399 (1.5) Cshow |
|
4400 4802 560 M |
|
4401 0 63 V |
|
4402 0 4067 R |
|
4403 0 -63 V |
|
4404 0 -4207 R |
|
4405 (2) Cshow |
|
4406 LTb |
|
4407 672 560 M |
|
4408 4130 0 V |
|
4409 0 4130 V |
|
4410 -4130 0 V |
|
4411 672 560 L |
|
4412 2737 210 M |
|
4413 (rotate about eigenaxis 15.00 deg) Cshow |
|
4414 2737 4900 M |
|
4415 (yaw=15.00 deg, pitch= 0.00 deg) Cshow |
|
4416 1.000 UP |
|
4417 1.000 UL |
|
4418 LT0 |
|
4419 4151 4557 M |
|
4420 (x \(body\)) Rshow |
|
4421 4235 4557 M |
|
4422 399 0 V |
|
4423 3279 2491 M |
|
4424 -542 134 V |
|
4425 3279 2491 Pls |
|
4426 2737 2625 Pls |
|
4427 4434 4557 Pls |
|
4428 1.000 UP |
|
4429 1.000 UL |
|
4430 LT1 |
|
4431 4151 4417 M |
|
4432 (y \(body\)) Rshow |
|
4433 4235 4417 M |
|
4434 399 0 V |
|
4435 2737 2625 M |
|
4436 800 499 V |
|
4437 2737 2625 Pls |
|
4438 3537 3124 Pls |
|
4439 4434 4417 Pls |
|
4440 1.000 UP |
|
4441 1.000 UL |
|
4442 LT2 |
|
4443 4151 4277 M |
|
4444 (z \(body\)) Rshow |
|
4445 4235 4277 M |
|
4446 399 0 V |
|
4447 2737 2625 M |
|
4448 365 -894 V |
|
4449 2737 2625 Crs |
|
4450 3102 1731 Crs |
|
4451 4434 4277 Crs |
|
4452 1.000 UP |
|
4453 1.000 UL |
|
4454 LT0 |
|
4455 4151 4137 M |
|
4456 (x \(inertial\)) Rshow |
|
4457 4235 4137 M |
|
4458 399 0 V |
|
4459 3467 2625 M |
|
4460 -730 0 V |
|
4461 3467 2625 Star |
|
4462 2737 2625 Star |
|
4463 4434 4137 Star |
|
4464 1.000 UP |
|
4465 1.000 UL |
|
4466 LT1 |
|
4467 4151 3997 M |
|
4468 (y \(inertial\)) Rshow |
|
4469 4235 3997 M |
|
4470 399 0 V |
|
4471 2737 2625 M |
|
4472 632 516 V |
|
4473 2737 2625 Star |
|
4474 3369 3141 Star |
|
4475 4434 3997 Star |
|
4476 1.000 UP |
|
4477 1.000 UL |
|
4478 LT2 |
|
4479 4151 3857 M |
|
4480 (z \(inertial\)) Rshow |
|
4481 4235 3857 M |
|
4482 399 0 V |
|
4483 2737 2625 M |
|
4484 365 -894 V |
|
4485 2737 2625 Box |
|
4486 3102 1731 Box |
|
4487 4434 3857 Box |
|
4488 1.000 UL |
|
4489 LT5 |
|
4490 4151 3717 M |
|
4491 (eigenaxis) Rshow |
|
4492 4235 3717 M |
|
4493 399 0 V |
|
4494 2737 2625 M |
|
4495 -365 894 V |
|
4496 87 14 V |
|
4497 7 10 V |
|
4498 2 9 V |
|
4499 -1 7 V |
|
4500 -6 6 V |
|
4501 -9 4 V |
|
4502 -13 2 V |
|
4503 -16 -1 V |
|
4504 -18 -3 V |
|
4505 -20 -5 V |
|
4506 -20 -6 V |
|
4507 1.000 UL |
|
4508 LT3 |
|
4509 3200 1215 M |
|
4510 -1460 0 V |
|
4511 1010 3003 L |
|
4512 2274 4035 L |
|
4513 1460 0 V |
|
4514 4464 2247 L |
|
4515 3200 1215 L |
|
4516 4464 2247 L |
|
4517 -1460 0 V |
|
4518 2274 4035 L |
|
4519 3004 2247 L |
|
4520 1740 1215 L |
|
4521 1.000 UL |
|
4522 LT4 |
|
4523 3734 4035 M |
|
4524 2470 3003 L |
|
4525 -1460 0 V |
|
4526 1460 0 V |
|
4527 3200 1215 L |
|
4528 stroke |
|
4529 grestore |
|
4530 end |
|
4531 showpage |
|
4532 @endspecial 2050 w @beginspecial 50 @llx 50 @lly 410 |
|
4533 @urx 302 @ury 2808 @rwi @setspecial |
|
4534 /gnudict 120 dict def |
|
4535 gnudict begin |
|
4536 /Color false def |
|
4537 /Solid false def |
|
4538 /gnulinewidth 5.000 def |
|
4539 /userlinewidth gnulinewidth def |
|
4540 /vshift -46 def |
|
4541 /dl {10 mul} def |
|
4542 /hpt_ 31.5 def |
|
4543 /vpt_ 31.5 def |
|
4544 /hpt hpt_ def |
|
4545 /vpt vpt_ def |
|
4546 /M {moveto} bind def |
|
4547 /L {lineto} bind def |
|
4548 /R {rmoveto} bind def |
|
4549 /V {rlineto} bind def |
|
4550 /vpt2 vpt 2 mul def |
|
4551 /hpt2 hpt 2 mul def |
|
4552 /Lshow { currentpoint stroke M |
|
4553 0 vshift R show } def |
|
4554 /Rshow { currentpoint stroke M |
|
4555 dup stringwidth pop neg vshift R show } def |
|
4556 /Cshow { currentpoint stroke M |
|
4557 dup stringwidth pop -2 div vshift R show } def |
|
4558 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
4559 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
4560 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
4561 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
4562 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
4563 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
4564 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
4565 /PL { stroke userlinewidth setlinewidth } def |
|
4566 /LTb { BL [] 0 0 0 DL } def |
|
4567 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
4568 /LT0 { PL [] 0 1 0 DL } def |
|
4569 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
4570 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
4571 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
4572 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
4573 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
4574 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
4575 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
4576 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
4577 /Pnt { stroke [] 0 setdash |
|
4578 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
4579 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
4580 hpt neg vpt neg V hpt vpt neg V |
|
4581 hpt vpt V hpt neg vpt V closepath stroke |
|
4582 Pnt } def |
|
4583 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
4584 currentpoint stroke M |
|
4585 hpt neg vpt neg R hpt2 0 V stroke |
|
4586 } def |
|
4587 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
4588 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
4589 hpt2 neg 0 V closepath stroke |
|
4590 Pnt } def |
|
4591 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
4592 hpt2 vpt2 neg V currentpoint stroke M |
|
4593 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
4594 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
4595 hpt neg vpt -1.62 mul V |
|
4596 hpt 2 mul 0 V |
|
4597 hpt neg vpt 1.62 mul V closepath stroke |
|
4598 Pnt } def |
|
4599 /Star { 2 copy Pls Crs } def |
|
4600 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
4601 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
4602 hpt2 neg 0 V closepath fill } def |
|
4603 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
4604 hpt neg vpt -1.62 mul V |
|
4605 hpt 2 mul 0 V |
|
4606 hpt neg vpt 1.62 mul V closepath fill } def |
|
4607 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
4608 hpt neg vpt 1.62 mul V |
|
4609 hpt 2 mul 0 V |
|
4610 hpt neg vpt -1.62 mul V closepath stroke |
|
4611 Pnt } def |
|
4612 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
4613 hpt neg vpt 1.62 mul V |
|
4614 hpt 2 mul 0 V |
|
4615 hpt neg vpt -1.62 mul V closepath fill} def |
|
4616 /DiaF { stroke [] 0 setdash vpt add M |
|
4617 hpt neg vpt neg V hpt vpt neg V |
|
4618 hpt vpt V hpt neg vpt V closepath fill } def |
|
4619 /Pent { stroke [] 0 setdash 2 copy gsave |
|
4620 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
4621 closepath stroke grestore Pnt } def |
|
4622 /PentF { stroke [] 0 setdash gsave |
|
4623 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
4624 closepath fill grestore } def |
|
4625 /Circle { stroke [] 0 setdash 2 copy |
|
4626 hpt 0 360 arc stroke Pnt } def |
|
4627 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
4628 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
4629 /C1 { BL [] 0 setdash 2 copy moveto |
|
4630 2 copy vpt 0 90 arc closepath fill |
|
4631 vpt 0 360 arc closepath } bind def |
|
4632 /C2 { BL [] 0 setdash 2 copy moveto |
|
4633 2 copy vpt 90 180 arc closepath fill |
|
4634 vpt 0 360 arc closepath } bind def |
|
4635 /C3 { BL [] 0 setdash 2 copy moveto |
|
4636 2 copy vpt 0 180 arc closepath fill |
|
4637 vpt 0 360 arc closepath } bind def |
|
4638 /C4 { BL [] 0 setdash 2 copy moveto |
|
4639 2 copy vpt 180 270 arc closepath fill |
|
4640 vpt 0 360 arc closepath } bind def |
|
4641 /C5 { BL [] 0 setdash 2 copy moveto |
|
4642 2 copy vpt 0 90 arc |
|
4643 2 copy moveto |
|
4644 2 copy vpt 180 270 arc closepath fill |
|
4645 vpt 0 360 arc } bind def |
|
4646 /C6 { BL [] 0 setdash 2 copy moveto |
|
4647 2 copy vpt 90 270 arc closepath fill |
|
4648 vpt 0 360 arc closepath } bind def |
|
4649 /C7 { BL [] 0 setdash 2 copy moveto |
|
4650 2 copy vpt 0 270 arc closepath fill |
|
4651 vpt 0 360 arc closepath } bind def |
|
4652 /C8 { BL [] 0 setdash 2 copy moveto |
|
4653 2 copy vpt 270 360 arc closepath fill |
|
4654 vpt 0 360 arc closepath } bind def |
|
4655 /C9 { BL [] 0 setdash 2 copy moveto |
|
4656 2 copy vpt 270 450 arc closepath fill |
|
4657 vpt 0 360 arc closepath } bind def |
|
4658 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
4659 2 copy moveto |
|
4660 2 copy vpt 90 180 arc closepath fill |
|
4661 vpt 0 360 arc closepath } bind def |
|
4662 /C11 { BL [] 0 setdash 2 copy moveto |
|
4663 2 copy vpt 0 180 arc closepath fill |
|
4664 2 copy moveto |
|
4665 2 copy vpt 270 360 arc closepath fill |
|
4666 vpt 0 360 arc closepath } bind def |
|
4667 /C12 { BL [] 0 setdash 2 copy moveto |
|
4668 2 copy vpt 180 360 arc closepath fill |
|
4669 vpt 0 360 arc closepath } bind def |
|
4670 /C13 { BL [] 0 setdash 2 copy moveto |
|
4671 2 copy vpt 0 90 arc closepath fill |
|
4672 2 copy moveto |
|
4673 2 copy vpt 180 360 arc closepath fill |
|
4674 vpt 0 360 arc closepath } bind def |
|
4675 /C14 { BL [] 0 setdash 2 copy moveto |
|
4676 2 copy vpt 90 360 arc closepath fill |
|
4677 vpt 0 360 arc } bind def |
|
4678 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
4679 vpt 0 360 arc closepath } bind def |
|
4680 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
4681 neg 0 rlineto closepath } bind def |
|
4682 /Square { dup Rec } bind def |
|
4683 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
4684 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
4685 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
4686 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
4687 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
4688 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
4689 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
4690 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
4691 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
4692 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
4693 2 copy vpt Square fill |
|
4694 Bsquare } bind def |
|
4695 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
4696 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
4697 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
4698 Bsquare } bind def |
|
4699 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
4700 Bsquare } bind def |
|
4701 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
4702 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
4703 2 copy vpt Square fill Bsquare } bind def |
|
4704 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
4705 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
4706 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
4707 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
4708 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
4709 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
4710 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
4711 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
4712 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
4713 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
4714 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
4715 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
4716 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
4717 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
4718 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
4719 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
4720 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
4721 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
4722 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
4723 /DiaE { stroke [] 0 setdash vpt add M |
|
4724 hpt neg vpt neg V hpt vpt neg V |
|
4725 hpt vpt V hpt neg vpt V closepath stroke } def |
|
4726 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
4727 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
4728 hpt2 neg 0 V closepath stroke } def |
|
4729 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
4730 hpt neg vpt -1.62 mul V |
|
4731 hpt 2 mul 0 V |
|
4732 hpt neg vpt 1.62 mul V closepath stroke } def |
|
4733 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
4734 hpt neg vpt 1.62 mul V |
|
4735 hpt 2 mul 0 V |
|
4736 hpt neg vpt -1.62 mul V closepath stroke } def |
|
4737 /PentE { stroke [] 0 setdash gsave |
|
4738 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
4739 closepath stroke grestore } def |
|
4740 /CircE { stroke [] 0 setdash |
|
4741 hpt 0 360 arc stroke } def |
|
4742 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
4743 end |
|
4744 gnudict begin |
|
4745 gsave |
|
4746 50 50 translate |
|
4747 0.050 0.050 scale |
|
4748 0 setgray |
|
4749 newpath |
|
4750 (Helvetica) findfont 140 scalefont setfont |
|
4751 LTb |
|
4752 672 560 M |
|
4753 63 0 V |
|
4754 4067 0 R |
|
4755 -63 0 V |
|
4756 588 560 M |
|
4757 (-2) Rshow |
|
4758 672 1076 M |
|
4759 63 0 V |
|
4760 4067 0 R |
|
4761 -63 0 V |
|
4762 -4151 0 R |
|
4763 (-1.5) Rshow |
|
4764 672 1593 M |
|
4765 63 0 V |
|
4766 4067 0 R |
|
4767 -63 0 V |
|
4768 -4151 0 R |
|
4769 (-1) Rshow |
|
4770 672 2109 M |
|
4771 63 0 V |
|
4772 4067 0 R |
|
4773 -63 0 V |
|
4774 -4151 0 R |
|
4775 (-0.5) Rshow |
|
4776 672 2625 M |
|
4777 63 0 V |
|
4778 4067 0 R |
|
4779 -63 0 V |
|
4780 -4151 0 R |
|
4781 (0) Rshow |
|
4782 672 3141 M |
|
4783 63 0 V |
|
4784 4067 0 R |
|
4785 -63 0 V |
|
4786 -4151 0 R |
|
4787 (0.5) Rshow |
|
4788 672 3658 M |
|
4789 63 0 V |
|
4790 4067 0 R |
|
4791 -63 0 V |
|
4792 -4151 0 R |
|
4793 (1) Rshow |
|
4794 672 4174 M |
|
4795 63 0 V |
|
4796 4067 0 R |
|
4797 -63 0 V |
|
4798 -4151 0 R |
|
4799 (1.5) Rshow |
|
4800 672 4690 M |
|
4801 63 0 V |
|
4802 4067 0 R |
|
4803 -63 0 V |
|
4804 -4151 0 R |
|
4805 (2) Rshow |
|
4806 672 560 M |
|
4807 0 63 V |
|
4808 0 4067 R |
|
4809 0 -63 V |
|
4810 672 420 M |
|
4811 (-2) Cshow |
|
4812 1188 560 M |
|
4813 0 63 V |
|
4814 0 4067 R |
|
4815 0 -63 V |
|
4816 0 -4207 R |
|
4817 (-1.5) Cshow |
|
4818 1705 560 M |
|
4819 0 63 V |
|
4820 0 4067 R |
|
4821 0 -63 V |
|
4822 0 -4207 R |
|
4823 (-1) Cshow |
|
4824 2221 560 M |
|
4825 0 63 V |
|
4826 0 4067 R |
|
4827 0 -63 V |
|
4828 0 -4207 R |
|
4829 (-0.5) Cshow |
|
4830 2737 560 M |
|
4831 0 63 V |
|
4832 0 4067 R |
|
4833 0 -63 V |
|
4834 0 -4207 R |
|
4835 (0) Cshow |
|
4836 3253 560 M |
|
4837 0 63 V |
|
4838 0 4067 R |
|
4839 0 -63 V |
|
4840 0 -4207 R |
|
4841 (0.5) Cshow |
|
4842 3770 560 M |
|
4843 0 63 V |
|
4844 0 4067 R |
|
4845 0 -63 V |
|
4846 0 -4207 R |
|
4847 (1) Cshow |
|
4848 4286 560 M |
|
4849 0 63 V |
|
4850 0 4067 R |
|
4851 0 -63 V |
|
4852 0 -4207 R |
|
4853 (1.5) Cshow |
|
4854 4802 560 M |
|
4855 0 63 V |
|
4856 0 4067 R |
|
4857 0 -63 V |
|
4858 0 -4207 R |
|
4859 (2) Cshow |
|
4860 LTb |
|
4861 672 560 M |
|
4862 4130 0 V |
|
4863 0 4130 V |
|
4864 -4130 0 V |
|
4865 672 560 L |
|
4866 2737 210 M |
|
4867 (rotate about eigenaxis 20.00 deg) Cshow |
|
4868 2737 4900 M |
|
4869 (yaw=20.00 deg, pitch= 0.00 deg) Cshow |
|
4870 1.000 UP |
|
4871 1.000 UL |
|
4872 LT0 |
|
4873 4151 4557 M |
|
4874 (x \(body\)) Rshow |
|
4875 4235 4557 M |
|
4876 399 0 V |
|
4877 3207 2448 M |
|
4878 -470 177 V |
|
4879 3207 2448 Pls |
|
4880 2737 2625 Pls |
|
4881 4434 4557 Pls |
|
4882 1.000 UP |
|
4883 1.000 UL |
|
4884 LT1 |
|
4885 4151 4417 M |
|
4886 (y \(body\)) Rshow |
|
4887 4235 4417 M |
|
4888 399 0 V |
|
4889 2737 2625 M |
|
4890 844 485 V |
|
4891 2737 2625 Pls |
|
4892 3581 3110 Pls |
|
4893 4434 4417 Pls |
|
4894 1.000 UP |
|
4895 1.000 UL |
|
4896 LT2 |
|
4897 4151 4277 M |
|
4898 (z \(body\)) Rshow |
|
4899 4235 4277 M |
|
4900 399 0 V |
|
4901 2737 2625 M |
|
4902 365 -894 V |
|
4903 2737 2625 Crs |
|
4904 3102 1731 Crs |
|
4905 4434 4277 Crs |
|
4906 1.000 UP |
|
4907 1.000 UL |
|
4908 LT0 |
|
4909 4151 4137 M |
|
4910 (x \(inertial\)) Rshow |
|
4911 4235 4137 M |
|
4912 399 0 V |
|
4913 3467 2625 M |
|
4914 -730 0 V |
|
4915 3467 2625 Star |
|
4916 2737 2625 Star |
|
4917 4434 4137 Star |
|
4918 1.000 UP |
|
4919 1.000 UL |
|
4920 LT1 |
|
4921 4151 3997 M |
|
4922 (y \(inertial\)) Rshow |
|
4923 4235 3997 M |
|
4924 399 0 V |
|
4925 2737 2625 M |
|
4926 632 516 V |
|
4927 2737 2625 Star |
|
4928 3369 3141 Star |
|
4929 4434 3997 Star |
|
4930 1.000 UP |
|
4931 1.000 UL |
|
4932 LT2 |
|
4933 4151 3857 M |
|
4934 (z \(inertial\)) Rshow |
|
4935 4235 3857 M |
|
4936 399 0 V |
|
4937 2737 2625 M |
|
4938 365 -894 V |
|
4939 2737 2625 Box |
|
4940 3102 1731 Box |
|
4941 4434 3857 Box |
|
4942 1.000 UL |
|
4943 LT5 |
|
4944 4151 3717 M |
|
4945 (eigenaxis) Rshow |
|
4946 4235 3717 M |
|
4947 399 0 V |
|
4948 2737 2625 M |
|
4949 -365 894 V |
|
4950 90 18 V |
|
4951 5 10 V |
|
4952 1 8 V |
|
4953 -3 7 V |
|
4954 -7 5 V |
|
4955 -11 3 V |
|
4956 -14 1 V |
|
4957 -17 -2 V |
|
4958 -19 -3 V |
|
4959 -20 -6 V |
|
4960 -20 -8 V |
|
4961 1.000 UL |
|
4962 LT3 |
|
4963 3200 1215 M |
|
4964 -1460 0 V |
|
4965 1010 3003 L |
|
4966 2274 4035 L |
|
4967 1460 0 V |
|
4968 4464 2247 L |
|
4969 3200 1215 L |
|
4970 4464 2247 L |
|
4971 -1460 0 V |
|
4972 2274 4035 L |
|
4973 3004 2247 L |
|
4974 1740 1215 L |
|
4975 1.000 UL |
|
4976 LT4 |
|
4977 3734 4035 M |
|
4978 2470 3003 L |
|
4979 -1460 0 V |
|
4980 1460 0 V |
|
4981 3200 1215 L |
|
4982 stroke |
|
4983 grestore |
|
4984 end |
|
4985 showpage |
|
4986 @endspecial eop |
|
4987 11 10 bop 0 100 a Fn(A.)31 b(S.)f(Ho)s(del:)40 b(Quaternions)29 |
|
4988 b(\(In)m(tro)s(duction\))g Fo(R)q(ev)s(ision)d Fq(:)f(1)p |
|
4989 Fo(:)p Fq(1)421 b Fn(\(c\))31 b(1998)871 b Fq(11)50 2045 |
|
4990 y @beginspecial 50 @llx 50 @lly 410 @urx 302 @ury 2808 |
|
4991 @rwi @setspecial |
|
4992 /gnudict 120 dict def |
|
4993 gnudict begin |
|
4994 /Color false def |
|
4995 /Solid false def |
|
4996 /gnulinewidth 5.000 def |
|
4997 /userlinewidth gnulinewidth def |
|
4998 /vshift -46 def |
|
4999 /dl {10 mul} def |
|
5000 /hpt_ 31.5 def |
|
5001 /vpt_ 31.5 def |
|
5002 /hpt hpt_ def |
|
5003 /vpt vpt_ def |
|
5004 /M {moveto} bind def |
|
5005 /L {lineto} bind def |
|
5006 /R {rmoveto} bind def |
|
5007 /V {rlineto} bind def |
|
5008 /vpt2 vpt 2 mul def |
|
5009 /hpt2 hpt 2 mul def |
|
5010 /Lshow { currentpoint stroke M |
|
5011 0 vshift R show } def |
|
5012 /Rshow { currentpoint stroke M |
|
5013 dup stringwidth pop neg vshift R show } def |
|
5014 /Cshow { currentpoint stroke M |
|
5015 dup stringwidth pop -2 div vshift R show } def |
|
5016 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
5017 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
5018 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
5019 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
5020 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
5021 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
5022 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
5023 /PL { stroke userlinewidth setlinewidth } def |
|
5024 /LTb { BL [] 0 0 0 DL } def |
|
5025 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
5026 /LT0 { PL [] 0 1 0 DL } def |
|
5027 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
5028 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
5029 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
5030 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
5031 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
5032 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
5033 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
5034 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
5035 /Pnt { stroke [] 0 setdash |
|
5036 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
5037 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
5038 hpt neg vpt neg V hpt vpt neg V |
|
5039 hpt vpt V hpt neg vpt V closepath stroke |
|
5040 Pnt } def |
|
5041 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
5042 currentpoint stroke M |
|
5043 hpt neg vpt neg R hpt2 0 V stroke |
|
5044 } def |
|
5045 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
5046 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
5047 hpt2 neg 0 V closepath stroke |
|
5048 Pnt } def |
|
5049 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
5050 hpt2 vpt2 neg V currentpoint stroke M |
|
5051 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
5052 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
5053 hpt neg vpt -1.62 mul V |
|
5054 hpt 2 mul 0 V |
|
5055 hpt neg vpt 1.62 mul V closepath stroke |
|
5056 Pnt } def |
|
5057 /Star { 2 copy Pls Crs } def |
|
5058 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
5059 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
5060 hpt2 neg 0 V closepath fill } def |
|
5061 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
5062 hpt neg vpt -1.62 mul V |
|
5063 hpt 2 mul 0 V |
|
5064 hpt neg vpt 1.62 mul V closepath fill } def |
|
5065 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
5066 hpt neg vpt 1.62 mul V |
|
5067 hpt 2 mul 0 V |
|
5068 hpt neg vpt -1.62 mul V closepath stroke |
|
5069 Pnt } def |
|
5070 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
5071 hpt neg vpt 1.62 mul V |
|
5072 hpt 2 mul 0 V |
|
5073 hpt neg vpt -1.62 mul V closepath fill} def |
|
5074 /DiaF { stroke [] 0 setdash vpt add M |
|
5075 hpt neg vpt neg V hpt vpt neg V |
|
5076 hpt vpt V hpt neg vpt V closepath fill } def |
|
5077 /Pent { stroke [] 0 setdash 2 copy gsave |
|
5078 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
5079 closepath stroke grestore Pnt } def |
|
5080 /PentF { stroke [] 0 setdash gsave |
|
5081 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
5082 closepath fill grestore } def |
|
5083 /Circle { stroke [] 0 setdash 2 copy |
|
5084 hpt 0 360 arc stroke Pnt } def |
|
5085 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
5086 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
5087 /C1 { BL [] 0 setdash 2 copy moveto |
|
5088 2 copy vpt 0 90 arc closepath fill |
|
5089 vpt 0 360 arc closepath } bind def |
|
5090 /C2 { BL [] 0 setdash 2 copy moveto |
|
5091 2 copy vpt 90 180 arc closepath fill |
|
5092 vpt 0 360 arc closepath } bind def |
|
5093 /C3 { BL [] 0 setdash 2 copy moveto |
|
5094 2 copy vpt 0 180 arc closepath fill |
|
5095 vpt 0 360 arc closepath } bind def |
|
5096 /C4 { BL [] 0 setdash 2 copy moveto |
|
5097 2 copy vpt 180 270 arc closepath fill |
|
5098 vpt 0 360 arc closepath } bind def |
|
5099 /C5 { BL [] 0 setdash 2 copy moveto |
|
5100 2 copy vpt 0 90 arc |
|
5101 2 copy moveto |
|
5102 2 copy vpt 180 270 arc closepath fill |
|
5103 vpt 0 360 arc } bind def |
|
5104 /C6 { BL [] 0 setdash 2 copy moveto |
|
5105 2 copy vpt 90 270 arc closepath fill |
|
5106 vpt 0 360 arc closepath } bind def |
|
5107 /C7 { BL [] 0 setdash 2 copy moveto |
|
5108 2 copy vpt 0 270 arc closepath fill |
|
5109 vpt 0 360 arc closepath } bind def |
|
5110 /C8 { BL [] 0 setdash 2 copy moveto |
|
5111 2 copy vpt 270 360 arc closepath fill |
|
5112 vpt 0 360 arc closepath } bind def |
|
5113 /C9 { BL [] 0 setdash 2 copy moveto |
|
5114 2 copy vpt 270 450 arc closepath fill |
|
5115 vpt 0 360 arc closepath } bind def |
|
5116 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
5117 2 copy moveto |
|
5118 2 copy vpt 90 180 arc closepath fill |
|
5119 vpt 0 360 arc closepath } bind def |
|
5120 /C11 { BL [] 0 setdash 2 copy moveto |
|
5121 2 copy vpt 0 180 arc closepath fill |
|
5122 2 copy moveto |
|
5123 2 copy vpt 270 360 arc closepath fill |
|
5124 vpt 0 360 arc closepath } bind def |
|
5125 /C12 { BL [] 0 setdash 2 copy moveto |
|
5126 2 copy vpt 180 360 arc closepath fill |
|
5127 vpt 0 360 arc closepath } bind def |
|
5128 /C13 { BL [] 0 setdash 2 copy moveto |
|
5129 2 copy vpt 0 90 arc closepath fill |
|
5130 2 copy moveto |
|
5131 2 copy vpt 180 360 arc closepath fill |
|
5132 vpt 0 360 arc closepath } bind def |
|
5133 /C14 { BL [] 0 setdash 2 copy moveto |
|
5134 2 copy vpt 90 360 arc closepath fill |
|
5135 vpt 0 360 arc } bind def |
|
5136 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
5137 vpt 0 360 arc closepath } bind def |
|
5138 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
5139 neg 0 rlineto closepath } bind def |
|
5140 /Square { dup Rec } bind def |
|
5141 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
5142 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
5143 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
5144 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
5145 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
5146 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
5147 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
5148 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
5149 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
5150 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
5151 2 copy vpt Square fill |
|
5152 Bsquare } bind def |
|
5153 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
5154 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
5155 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
5156 Bsquare } bind def |
|
5157 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
5158 Bsquare } bind def |
|
5159 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
5160 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
5161 2 copy vpt Square fill Bsquare } bind def |
|
5162 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
5163 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
5164 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
5165 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
5166 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
5167 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
5168 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
5169 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
5170 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
5171 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
5172 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
5173 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
5174 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
5175 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
5176 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
5177 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
5178 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
5179 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
5180 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
5181 /DiaE { stroke [] 0 setdash vpt add M |
|
5182 hpt neg vpt neg V hpt vpt neg V |
|
5183 hpt vpt V hpt neg vpt V closepath stroke } def |
|
5184 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
5185 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
5186 hpt2 neg 0 V closepath stroke } def |
|
5187 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
5188 hpt neg vpt -1.62 mul V |
|
5189 hpt 2 mul 0 V |
|
5190 hpt neg vpt 1.62 mul V closepath stroke } def |
|
5191 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
5192 hpt neg vpt 1.62 mul V |
|
5193 hpt 2 mul 0 V |
|
5194 hpt neg vpt -1.62 mul V closepath stroke } def |
|
5195 /PentE { stroke [] 0 setdash gsave |
|
5196 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
5197 closepath stroke grestore } def |
|
5198 /CircE { stroke [] 0 setdash |
|
5199 hpt 0 360 arc stroke } def |
|
5200 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
5201 end |
|
5202 gnudict begin |
|
5203 gsave |
|
5204 50 50 translate |
|
5205 0.050 0.050 scale |
|
5206 0 setgray |
|
5207 newpath |
|
5208 (Helvetica) findfont 140 scalefont setfont |
|
5209 LTb |
|
5210 672 560 M |
|
5211 63 0 V |
|
5212 4067 0 R |
|
5213 -63 0 V |
|
5214 588 560 M |
|
5215 (-2) Rshow |
|
5216 672 1076 M |
|
5217 63 0 V |
|
5218 4067 0 R |
|
5219 -63 0 V |
|
5220 -4151 0 R |
|
5221 (-1.5) Rshow |
|
5222 672 1593 M |
|
5223 63 0 V |
|
5224 4067 0 R |
|
5225 -63 0 V |
|
5226 -4151 0 R |
|
5227 (-1) Rshow |
|
5228 672 2109 M |
|
5229 63 0 V |
|
5230 4067 0 R |
|
5231 -63 0 V |
|
5232 -4151 0 R |
|
5233 (-0.5) Rshow |
|
5234 672 2625 M |
|
5235 63 0 V |
|
5236 4067 0 R |
|
5237 -63 0 V |
|
5238 -4151 0 R |
|
5239 (0) Rshow |
|
5240 672 3141 M |
|
5241 63 0 V |
|
5242 4067 0 R |
|
5243 -63 0 V |
|
5244 -4151 0 R |
|
5245 (0.5) Rshow |
|
5246 672 3658 M |
|
5247 63 0 V |
|
5248 4067 0 R |
|
5249 -63 0 V |
|
5250 -4151 0 R |
|
5251 (1) Rshow |
|
5252 672 4174 M |
|
5253 63 0 V |
|
5254 4067 0 R |
|
5255 -63 0 V |
|
5256 -4151 0 R |
|
5257 (1.5) Rshow |
|
5258 672 4690 M |
|
5259 63 0 V |
|
5260 4067 0 R |
|
5261 -63 0 V |
|
5262 -4151 0 R |
|
5263 (2) Rshow |
|
5264 672 560 M |
|
5265 0 63 V |
|
5266 0 4067 R |
|
5267 0 -63 V |
|
5268 672 420 M |
|
5269 (-2) Cshow |
|
5270 1188 560 M |
|
5271 0 63 V |
|
5272 0 4067 R |
|
5273 0 -63 V |
|
5274 0 -4207 R |
|
5275 (-1.5) Cshow |
|
5276 1705 560 M |
|
5277 0 63 V |
|
5278 0 4067 R |
|
5279 0 -63 V |
|
5280 0 -4207 R |
|
5281 (-1) Cshow |
|
5282 2221 560 M |
|
5283 0 63 V |
|
5284 0 4067 R |
|
5285 0 -63 V |
|
5286 0 -4207 R |
|
5287 (-0.5) Cshow |
|
5288 2737 560 M |
|
5289 0 63 V |
|
5290 0 4067 R |
|
5291 0 -63 V |
|
5292 0 -4207 R |
|
5293 (0) Cshow |
|
5294 3253 560 M |
|
5295 0 63 V |
|
5296 0 4067 R |
|
5297 0 -63 V |
|
5298 0 -4207 R |
|
5299 (0.5) Cshow |
|
5300 3770 560 M |
|
5301 0 63 V |
|
5302 0 4067 R |
|
5303 0 -63 V |
|
5304 0 -4207 R |
|
5305 (1) Cshow |
|
5306 4286 560 M |
|
5307 0 63 V |
|
5308 0 4067 R |
|
5309 0 -63 V |
|
5310 0 -4207 R |
|
5311 (1.5) Cshow |
|
5312 4802 560 M |
|
5313 0 63 V |
|
5314 0 4067 R |
|
5315 0 -63 V |
|
5316 0 -4207 R |
|
5317 (2) Cshow |
|
5318 LTb |
|
5319 672 560 M |
|
5320 4130 0 V |
|
5321 0 4130 V |
|
5322 -4130 0 V |
|
5323 672 560 L |
|
5324 2737 210 M |
|
5325 (rotate about eigenaxis 20.00 deg) Cshow |
|
5326 2737 4900 M |
|
5327 (yaw=20.00 deg, pitch= 0.00 deg) Cshow |
|
5328 1.000 UP |
|
5329 1.000 UL |
|
5330 LT0 |
|
5331 4151 4557 M |
|
5332 (x \(body\)) Rshow |
|
5333 4235 4557 M |
|
5334 399 0 V |
|
5335 3207 2448 M |
|
5336 -470 177 V |
|
5337 3207 2448 Pls |
|
5338 2737 2625 Pls |
|
5339 4434 4557 Pls |
|
5340 1.000 UP |
|
5341 1.000 UL |
|
5342 LT1 |
|
5343 4151 4417 M |
|
5344 (y \(body\)) Rshow |
|
5345 4235 4417 M |
|
5346 399 0 V |
|
5347 2737 2625 M |
|
5348 844 485 V |
|
5349 2737 2625 Pls |
|
5350 3581 3110 Pls |
|
5351 4434 4417 Pls |
|
5352 1.000 UP |
|
5353 1.000 UL |
|
5354 LT2 |
|
5355 4151 4277 M |
|
5356 (z \(body\)) Rshow |
|
5357 4235 4277 M |
|
5358 399 0 V |
|
5359 2737 2625 M |
|
5360 365 -894 V |
|
5361 2737 2625 Crs |
|
5362 3102 1731 Crs |
|
5363 4434 4277 Crs |
|
5364 1.000 UP |
|
5365 1.000 UL |
|
5366 LT0 |
|
5367 4151 4137 M |
|
5368 (x \(inertial\)) Rshow |
|
5369 4235 4137 M |
|
5370 399 0 V |
|
5371 3467 2625 M |
|
5372 -730 0 V |
|
5373 3467 2625 Star |
|
5374 2737 2625 Star |
|
5375 4434 4137 Star |
|
5376 1.000 UP |
|
5377 1.000 UL |
|
5378 LT1 |
|
5379 4151 3997 M |
|
5380 (y \(inertial\)) Rshow |
|
5381 4235 3997 M |
|
5382 399 0 V |
|
5383 2737 2625 M |
|
5384 632 516 V |
|
5385 2737 2625 Star |
|
5386 3369 3141 Star |
|
5387 4434 3997 Star |
|
5388 1.000 UP |
|
5389 1.000 UL |
|
5390 LT2 |
|
5391 4151 3857 M |
|
5392 (z \(inertial\)) Rshow |
|
5393 4235 3857 M |
|
5394 399 0 V |
|
5395 2737 2625 M |
|
5396 365 -894 V |
|
5397 2737 2625 Box |
|
5398 3102 1731 Box |
|
5399 4434 3857 Box |
|
5400 1.000 UL |
|
5401 LT5 |
|
5402 4151 3717 M |
|
5403 (eigenaxis) Rshow |
|
5404 4235 3717 M |
|
5405 399 0 V |
|
5406 2737 2625 M |
|
5407 -365 894 V |
|
5408 90 18 V |
|
5409 5 10 V |
|
5410 1 8 V |
|
5411 -3 7 V |
|
5412 -7 5 V |
|
5413 -11 3 V |
|
5414 -14 1 V |
|
5415 -17 -2 V |
|
5416 -19 -3 V |
|
5417 -20 -6 V |
|
5418 -20 -8 V |
|
5419 1.000 UL |
|
5420 LT3 |
|
5421 3200 1215 M |
|
5422 -1460 0 V |
|
5423 1010 3003 L |
|
5424 2274 4035 L |
|
5425 1460 0 V |
|
5426 4464 2247 L |
|
5427 3200 1215 L |
|
5428 4464 2247 L |
|
5429 -1460 0 V |
|
5430 2274 4035 L |
|
5431 3004 2247 L |
|
5432 1740 1215 L |
|
5433 1.000 UL |
|
5434 LT4 |
|
5435 3734 4035 M |
|
5436 2470 3003 L |
|
5437 -1460 0 V |
|
5438 1460 0 V |
|
5439 3200 1215 L |
|
5440 stroke |
|
5441 grestore |
|
5442 end |
|
5443 showpage |
|
5444 @endspecial 2050 w @beginspecial 50 @llx 50 @lly 410 |
|
5445 @urx 302 @ury 2808 @rwi @setspecial |
|
5446 /gnudict 120 dict def |
|
5447 gnudict begin |
|
5448 /Color false def |
|
5449 /Solid false def |
|
5450 /gnulinewidth 5.000 def |
|
5451 /userlinewidth gnulinewidth def |
|
5452 /vshift -46 def |
|
5453 /dl {10 mul} def |
|
5454 /hpt_ 31.5 def |
|
5455 /vpt_ 31.5 def |
|
5456 /hpt hpt_ def |
|
5457 /vpt vpt_ def |
|
5458 /M {moveto} bind def |
|
5459 /L {lineto} bind def |
|
5460 /R {rmoveto} bind def |
|
5461 /V {rlineto} bind def |
|
5462 /vpt2 vpt 2 mul def |
|
5463 /hpt2 hpt 2 mul def |
|
5464 /Lshow { currentpoint stroke M |
|
5465 0 vshift R show } def |
|
5466 /Rshow { currentpoint stroke M |
|
5467 dup stringwidth pop neg vshift R show } def |
|
5468 /Cshow { currentpoint stroke M |
|
5469 dup stringwidth pop -2 div vshift R show } def |
|
5470 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
5471 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
5472 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
5473 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
5474 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
5475 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
5476 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
5477 /PL { stroke userlinewidth setlinewidth } def |
|
5478 /LTb { BL [] 0 0 0 DL } def |
|
5479 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
5480 /LT0 { PL [] 0 1 0 DL } def |
|
5481 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
5482 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
5483 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
5484 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
5485 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
5486 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
5487 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
5488 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
5489 /Pnt { stroke [] 0 setdash |
|
5490 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
5491 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
5492 hpt neg vpt neg V hpt vpt neg V |
|
5493 hpt vpt V hpt neg vpt V closepath stroke |
|
5494 Pnt } def |
|
5495 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
5496 currentpoint stroke M |
|
5497 hpt neg vpt neg R hpt2 0 V stroke |
|
5498 } def |
|
5499 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
5500 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
5501 hpt2 neg 0 V closepath stroke |
|
5502 Pnt } def |
|
5503 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
5504 hpt2 vpt2 neg V currentpoint stroke M |
|
5505 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
5506 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
5507 hpt neg vpt -1.62 mul V |
|
5508 hpt 2 mul 0 V |
|
5509 hpt neg vpt 1.62 mul V closepath stroke |
|
5510 Pnt } def |
|
5511 /Star { 2 copy Pls Crs } def |
|
5512 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
5513 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
5514 hpt2 neg 0 V closepath fill } def |
|
5515 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
5516 hpt neg vpt -1.62 mul V |
|
5517 hpt 2 mul 0 V |
|
5518 hpt neg vpt 1.62 mul V closepath fill } def |
|
5519 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
5520 hpt neg vpt 1.62 mul V |
|
5521 hpt 2 mul 0 V |
|
5522 hpt neg vpt -1.62 mul V closepath stroke |
|
5523 Pnt } def |
|
5524 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
5525 hpt neg vpt 1.62 mul V |
|
5526 hpt 2 mul 0 V |
|
5527 hpt neg vpt -1.62 mul V closepath fill} def |
|
5528 /DiaF { stroke [] 0 setdash vpt add M |
|
5529 hpt neg vpt neg V hpt vpt neg V |
|
5530 hpt vpt V hpt neg vpt V closepath fill } def |
|
5531 /Pent { stroke [] 0 setdash 2 copy gsave |
|
5532 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
5533 closepath stroke grestore Pnt } def |
|
5534 /PentF { stroke [] 0 setdash gsave |
|
5535 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
5536 closepath fill grestore } def |
|
5537 /Circle { stroke [] 0 setdash 2 copy |
|
5538 hpt 0 360 arc stroke Pnt } def |
|
5539 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
5540 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
5541 /C1 { BL [] 0 setdash 2 copy moveto |
|
5542 2 copy vpt 0 90 arc closepath fill |
|
5543 vpt 0 360 arc closepath } bind def |
|
5544 /C2 { BL [] 0 setdash 2 copy moveto |
|
5545 2 copy vpt 90 180 arc closepath fill |
|
5546 vpt 0 360 arc closepath } bind def |
|
5547 /C3 { BL [] 0 setdash 2 copy moveto |
|
5548 2 copy vpt 0 180 arc closepath fill |
|
5549 vpt 0 360 arc closepath } bind def |
|
5550 /C4 { BL [] 0 setdash 2 copy moveto |
|
5551 2 copy vpt 180 270 arc closepath fill |
|
5552 vpt 0 360 arc closepath } bind def |
|
5553 /C5 { BL [] 0 setdash 2 copy moveto |
|
5554 2 copy vpt 0 90 arc |
|
5555 2 copy moveto |
|
5556 2 copy vpt 180 270 arc closepath fill |
|
5557 vpt 0 360 arc } bind def |
|
5558 /C6 { BL [] 0 setdash 2 copy moveto |
|
5559 2 copy vpt 90 270 arc closepath fill |
|
5560 vpt 0 360 arc closepath } bind def |
|
5561 /C7 { BL [] 0 setdash 2 copy moveto |
|
5562 2 copy vpt 0 270 arc closepath fill |
|
5563 vpt 0 360 arc closepath } bind def |
|
5564 /C8 { BL [] 0 setdash 2 copy moveto |
|
5565 2 copy vpt 270 360 arc closepath fill |
|
5566 vpt 0 360 arc closepath } bind def |
|
5567 /C9 { BL [] 0 setdash 2 copy moveto |
|
5568 2 copy vpt 270 450 arc closepath fill |
|
5569 vpt 0 360 arc closepath } bind def |
|
5570 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
5571 2 copy moveto |
|
5572 2 copy vpt 90 180 arc closepath fill |
|
5573 vpt 0 360 arc closepath } bind def |
|
5574 /C11 { BL [] 0 setdash 2 copy moveto |
|
5575 2 copy vpt 0 180 arc closepath fill |
|
5576 2 copy moveto |
|
5577 2 copy vpt 270 360 arc closepath fill |
|
5578 vpt 0 360 arc closepath } bind def |
|
5579 /C12 { BL [] 0 setdash 2 copy moveto |
|
5580 2 copy vpt 180 360 arc closepath fill |
|
5581 vpt 0 360 arc closepath } bind def |
|
5582 /C13 { BL [] 0 setdash 2 copy moveto |
|
5583 2 copy vpt 0 90 arc closepath fill |
|
5584 2 copy moveto |
|
5585 2 copy vpt 180 360 arc closepath fill |
|
5586 vpt 0 360 arc closepath } bind def |
|
5587 /C14 { BL [] 0 setdash 2 copy moveto |
|
5588 2 copy vpt 90 360 arc closepath fill |
|
5589 vpt 0 360 arc } bind def |
|
5590 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
5591 vpt 0 360 arc closepath } bind def |
|
5592 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
5593 neg 0 rlineto closepath } bind def |
|
5594 /Square { dup Rec } bind def |
|
5595 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
5596 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
5597 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
5598 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
5599 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
5600 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
5601 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
5602 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
5603 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
5604 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
5605 2 copy vpt Square fill |
|
5606 Bsquare } bind def |
|
5607 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
5608 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
5609 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
5610 Bsquare } bind def |
|
5611 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
5612 Bsquare } bind def |
|
5613 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
5614 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
5615 2 copy vpt Square fill Bsquare } bind def |
|
5616 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
5617 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
5618 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
5619 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
5620 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
5621 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
5622 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
5623 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
5624 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
5625 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
5626 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
5627 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
5628 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
5629 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
5630 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
5631 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
5632 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
5633 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
5634 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
5635 /DiaE { stroke [] 0 setdash vpt add M |
|
5636 hpt neg vpt neg V hpt vpt neg V |
|
5637 hpt vpt V hpt neg vpt V closepath stroke } def |
|
5638 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
5639 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
5640 hpt2 neg 0 V closepath stroke } def |
|
5641 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
5642 hpt neg vpt -1.62 mul V |
|
5643 hpt 2 mul 0 V |
|
5644 hpt neg vpt 1.62 mul V closepath stroke } def |
|
5645 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
5646 hpt neg vpt 1.62 mul V |
|
5647 hpt 2 mul 0 V |
|
5648 hpt neg vpt -1.62 mul V closepath stroke } def |
|
5649 /PentE { stroke [] 0 setdash gsave |
|
5650 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
5651 closepath stroke grestore } def |
|
5652 /CircE { stroke [] 0 setdash |
|
5653 hpt 0 360 arc stroke } def |
|
5654 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
5655 end |
|
5656 gnudict begin |
|
5657 gsave |
|
5658 50 50 translate |
|
5659 0.050 0.050 scale |
|
5660 0 setgray |
|
5661 newpath |
|
5662 (Helvetica) findfont 140 scalefont setfont |
|
5663 LTb |
|
5664 672 560 M |
|
5665 63 0 V |
|
5666 4067 0 R |
|
5667 -63 0 V |
|
5668 588 560 M |
|
5669 (-2) Rshow |
|
5670 672 1076 M |
|
5671 63 0 V |
|
5672 4067 0 R |
|
5673 -63 0 V |
|
5674 -4151 0 R |
|
5675 (-1.5) Rshow |
|
5676 672 1593 M |
|
5677 63 0 V |
|
5678 4067 0 R |
|
5679 -63 0 V |
|
5680 -4151 0 R |
|
5681 (-1) Rshow |
|
5682 672 2109 M |
|
5683 63 0 V |
|
5684 4067 0 R |
|
5685 -63 0 V |
|
5686 -4151 0 R |
|
5687 (-0.5) Rshow |
|
5688 672 2625 M |
|
5689 63 0 V |
|
5690 4067 0 R |
|
5691 -63 0 V |
|
5692 -4151 0 R |
|
5693 (0) Rshow |
|
5694 672 3141 M |
|
5695 63 0 V |
|
5696 4067 0 R |
|
5697 -63 0 V |
|
5698 -4151 0 R |
|
5699 (0.5) Rshow |
|
5700 672 3658 M |
|
5701 63 0 V |
|
5702 4067 0 R |
|
5703 -63 0 V |
|
5704 -4151 0 R |
|
5705 (1) Rshow |
|
5706 672 4174 M |
|
5707 63 0 V |
|
5708 4067 0 R |
|
5709 -63 0 V |
|
5710 -4151 0 R |
|
5711 (1.5) Rshow |
|
5712 672 4690 M |
|
5713 63 0 V |
|
5714 4067 0 R |
|
5715 -63 0 V |
|
5716 -4151 0 R |
|
5717 (2) Rshow |
|
5718 672 560 M |
|
5719 0 63 V |
|
5720 0 4067 R |
|
5721 0 -63 V |
|
5722 672 420 M |
|
5723 (-2) Cshow |
|
5724 1188 560 M |
|
5725 0 63 V |
|
5726 0 4067 R |
|
5727 0 -63 V |
|
5728 0 -4207 R |
|
5729 (-1.5) Cshow |
|
5730 1705 560 M |
|
5731 0 63 V |
|
5732 0 4067 R |
|
5733 0 -63 V |
|
5734 0 -4207 R |
|
5735 (-1) Cshow |
|
5736 2221 560 M |
|
5737 0 63 V |
|
5738 0 4067 R |
|
5739 0 -63 V |
|
5740 0 -4207 R |
|
5741 (-0.5) Cshow |
|
5742 2737 560 M |
|
5743 0 63 V |
|
5744 0 4067 R |
|
5745 0 -63 V |
|
5746 0 -4207 R |
|
5747 (0) Cshow |
|
5748 3253 560 M |
|
5749 0 63 V |
|
5750 0 4067 R |
|
5751 0 -63 V |
|
5752 0 -4207 R |
|
5753 (0.5) Cshow |
|
5754 3770 560 M |
|
5755 0 63 V |
|
5756 0 4067 R |
|
5757 0 -63 V |
|
5758 0 -4207 R |
|
5759 (1) Cshow |
|
5760 4286 560 M |
|
5761 0 63 V |
|
5762 0 4067 R |
|
5763 0 -63 V |
|
5764 0 -4207 R |
|
5765 (1.5) Cshow |
|
5766 4802 560 M |
|
5767 0 63 V |
|
5768 0 4067 R |
|
5769 0 -63 V |
|
5770 0 -4207 R |
|
5771 (2) Cshow |
|
5772 LTb |
|
5773 672 560 M |
|
5774 4130 0 V |
|
5775 0 4130 V |
|
5776 -4130 0 V |
|
5777 672 560 L |
|
5778 2737 210 M |
|
5779 (rotate about eigenaxis 20.61 deg) Cshow |
|
5780 2737 4900 M |
|
5781 (yaw=20.00 deg, pitch= 5.00 deg) Cshow |
|
5782 1.000 UP |
|
5783 1.000 UL |
|
5784 LT0 |
|
5785 4151 4557 M |
|
5786 (x \(body\)) Rshow |
|
5787 4235 4557 M |
|
5788 399 0 V |
|
5789 3173 2527 M |
|
5790 -436 98 V |
|
5791 3173 2527 Pls |
|
5792 2737 2625 Pls |
|
5793 4434 4557 Pls |
|
5794 1.000 UP |
|
5795 1.000 UL |
|
5796 LT1 |
|
5797 4151 4417 M |
|
5798 (y \(body\)) Rshow |
|
5799 4235 4417 M |
|
5800 399 0 V |
|
5801 2737 2625 M |
|
5802 844 485 V |
|
5803 2737 2625 Pls |
|
5804 3581 3110 Pls |
|
5805 4434 4417 Pls |
|
5806 1.000 UP |
|
5807 1.000 UL |
|
5808 LT2 |
|
5809 4151 4277 M |
|
5810 (z \(body\)) Rshow |
|
5811 4235 4277 M |
|
5812 399 0 V |
|
5813 2737 2625 M |
|
5814 405 -906 V |
|
5815 2737 2625 Crs |
|
5816 3142 1719 Crs |
|
5817 4434 4277 Crs |
|
5818 1.000 UP |
|
5819 1.000 UL |
|
5820 LT0 |
|
5821 4151 4137 M |
|
5822 (x \(inertial\)) Rshow |
|
5823 4235 4137 M |
|
5824 399 0 V |
|
5825 3467 2625 M |
|
5826 -730 0 V |
|
5827 3467 2625 Star |
|
5828 2737 2625 Star |
|
5829 4434 4137 Star |
|
5830 1.000 UP |
|
5831 1.000 UL |
|
5832 LT1 |
|
5833 4151 3997 M |
|
5834 (y \(inertial\)) Rshow |
|
5835 4235 3997 M |
|
5836 399 0 V |
|
5837 2737 2625 M |
|
5838 632 516 V |
|
5839 2737 2625 Star |
|
5840 3369 3141 Star |
|
5841 4434 3997 Star |
|
5842 1.000 UP |
|
5843 1.000 UL |
|
5844 LT2 |
|
5845 4151 3857 M |
|
5846 (z \(inertial\)) Rshow |
|
5847 4235 3857 M |
|
5848 399 0 V |
|
5849 2737 2625 M |
|
5850 365 -894 V |
|
5851 2737 2625 Box |
|
5852 3102 1731 Box |
|
5853 4434 3857 Box |
|
5854 1.000 UL |
|
5855 LT5 |
|
5856 4151 3717 M |
|
5857 (eigenaxis) Rshow |
|
5858 4235 3717 M |
|
5859 399 0 V |
|
5860 2737 2625 M |
|
5861 -375 886 V |
|
5862 90 18 V |
|
5863 5 10 V |
|
5864 1 9 V |
|
5865 -3 7 V |
|
5866 -7 5 V |
|
5867 -11 3 V |
|
5868 -15 1 V |
|
5869 -17 -1 V |
|
5870 -18 -4 V |
|
5871 -20 -6 V |
|
5872 -20 -8 V |
|
5873 1.000 UL |
|
5874 LT3 |
|
5875 3200 1215 M |
|
5876 -1460 0 V |
|
5877 1010 3003 L |
|
5878 2274 4035 L |
|
5879 1460 0 V |
|
5880 4464 2247 L |
|
5881 3200 1215 L |
|
5882 4464 2247 L |
|
5883 -1460 0 V |
|
5884 2274 4035 L |
|
5885 3004 2247 L |
|
5886 1740 1215 L |
|
5887 1.000 UL |
|
5888 LT4 |
|
5889 3734 4035 M |
|
5890 2470 3003 L |
|
5891 -1460 0 V |
|
5892 1460 0 V |
|
5893 3200 1215 L |
|
5894 stroke |
|
5895 grestore |
|
5896 end |
|
5897 showpage |
|
5898 @endspecial 50 3833 a @beginspecial 50 @llx 50 @lly |
|
5899 410 @urx 302 @ury 2808 @rwi @setspecial |
|
5900 /gnudict 120 dict def |
|
5901 gnudict begin |
|
5902 /Color false def |
|
5903 /Solid false def |
|
5904 /gnulinewidth 5.000 def |
|
5905 /userlinewidth gnulinewidth def |
|
5906 /vshift -46 def |
|
5907 /dl {10 mul} def |
|
5908 /hpt_ 31.5 def |
|
5909 /vpt_ 31.5 def |
|
5910 /hpt hpt_ def |
|
5911 /vpt vpt_ def |
|
5912 /M {moveto} bind def |
|
5913 /L {lineto} bind def |
|
5914 /R {rmoveto} bind def |
|
5915 /V {rlineto} bind def |
|
5916 /vpt2 vpt 2 mul def |
|
5917 /hpt2 hpt 2 mul def |
|
5918 /Lshow { currentpoint stroke M |
|
5919 0 vshift R show } def |
|
5920 /Rshow { currentpoint stroke M |
|
5921 dup stringwidth pop neg vshift R show } def |
|
5922 /Cshow { currentpoint stroke M |
|
5923 dup stringwidth pop -2 div vshift R show } def |
|
5924 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
5925 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
5926 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
5927 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
5928 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
5929 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
5930 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
5931 /PL { stroke userlinewidth setlinewidth } def |
|
5932 /LTb { BL [] 0 0 0 DL } def |
|
5933 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
5934 /LT0 { PL [] 0 1 0 DL } def |
|
5935 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
5936 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
5937 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
5938 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
5939 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
5940 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
5941 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
5942 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
5943 /Pnt { stroke [] 0 setdash |
|
5944 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
5945 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
5946 hpt neg vpt neg V hpt vpt neg V |
|
5947 hpt vpt V hpt neg vpt V closepath stroke |
|
5948 Pnt } def |
|
5949 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
5950 currentpoint stroke M |
|
5951 hpt neg vpt neg R hpt2 0 V stroke |
|
5952 } def |
|
5953 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
5954 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
5955 hpt2 neg 0 V closepath stroke |
|
5956 Pnt } def |
|
5957 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
5958 hpt2 vpt2 neg V currentpoint stroke M |
|
5959 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
5960 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
5961 hpt neg vpt -1.62 mul V |
|
5962 hpt 2 mul 0 V |
|
5963 hpt neg vpt 1.62 mul V closepath stroke |
|
5964 Pnt } def |
|
5965 /Star { 2 copy Pls Crs } def |
|
5966 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
5967 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
5968 hpt2 neg 0 V closepath fill } def |
|
5969 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
5970 hpt neg vpt -1.62 mul V |
|
5971 hpt 2 mul 0 V |
|
5972 hpt neg vpt 1.62 mul V closepath fill } def |
|
5973 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
5974 hpt neg vpt 1.62 mul V |
|
5975 hpt 2 mul 0 V |
|
5976 hpt neg vpt -1.62 mul V closepath stroke |
|
5977 Pnt } def |
|
5978 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
5979 hpt neg vpt 1.62 mul V |
|
5980 hpt 2 mul 0 V |
|
5981 hpt neg vpt -1.62 mul V closepath fill} def |
|
5982 /DiaF { stroke [] 0 setdash vpt add M |
|
5983 hpt neg vpt neg V hpt vpt neg V |
|
5984 hpt vpt V hpt neg vpt V closepath fill } def |
|
5985 /Pent { stroke [] 0 setdash 2 copy gsave |
|
5986 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
5987 closepath stroke grestore Pnt } def |
|
5988 /PentF { stroke [] 0 setdash gsave |
|
5989 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
5990 closepath fill grestore } def |
|
5991 /Circle { stroke [] 0 setdash 2 copy |
|
5992 hpt 0 360 arc stroke Pnt } def |
|
5993 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
5994 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
5995 /C1 { BL [] 0 setdash 2 copy moveto |
|
5996 2 copy vpt 0 90 arc closepath fill |
|
5997 vpt 0 360 arc closepath } bind def |
|
5998 /C2 { BL [] 0 setdash 2 copy moveto |
|
5999 2 copy vpt 90 180 arc closepath fill |
|
6000 vpt 0 360 arc closepath } bind def |
|
6001 /C3 { BL [] 0 setdash 2 copy moveto |
|
6002 2 copy vpt 0 180 arc closepath fill |
|
6003 vpt 0 360 arc closepath } bind def |
|
6004 /C4 { BL [] 0 setdash 2 copy moveto |
|
6005 2 copy vpt 180 270 arc closepath fill |
|
6006 vpt 0 360 arc closepath } bind def |
|
6007 /C5 { BL [] 0 setdash 2 copy moveto |
|
6008 2 copy vpt 0 90 arc |
|
6009 2 copy moveto |
|
6010 2 copy vpt 180 270 arc closepath fill |
|
6011 vpt 0 360 arc } bind def |
|
6012 /C6 { BL [] 0 setdash 2 copy moveto |
|
6013 2 copy vpt 90 270 arc closepath fill |
|
6014 vpt 0 360 arc closepath } bind def |
|
6015 /C7 { BL [] 0 setdash 2 copy moveto |
|
6016 2 copy vpt 0 270 arc closepath fill |
|
6017 vpt 0 360 arc closepath } bind def |
|
6018 /C8 { BL [] 0 setdash 2 copy moveto |
|
6019 2 copy vpt 270 360 arc closepath fill |
|
6020 vpt 0 360 arc closepath } bind def |
|
6021 /C9 { BL [] 0 setdash 2 copy moveto |
|
6022 2 copy vpt 270 450 arc closepath fill |
|
6023 vpt 0 360 arc closepath } bind def |
|
6024 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
6025 2 copy moveto |
|
6026 2 copy vpt 90 180 arc closepath fill |
|
6027 vpt 0 360 arc closepath } bind def |
|
6028 /C11 { BL [] 0 setdash 2 copy moveto |
|
6029 2 copy vpt 0 180 arc closepath fill |
|
6030 2 copy moveto |
|
6031 2 copy vpt 270 360 arc closepath fill |
|
6032 vpt 0 360 arc closepath } bind def |
|
6033 /C12 { BL [] 0 setdash 2 copy moveto |
|
6034 2 copy vpt 180 360 arc closepath fill |
|
6035 vpt 0 360 arc closepath } bind def |
|
6036 /C13 { BL [] 0 setdash 2 copy moveto |
|
6037 2 copy vpt 0 90 arc closepath fill |
|
6038 2 copy moveto |
|
6039 2 copy vpt 180 360 arc closepath fill |
|
6040 vpt 0 360 arc closepath } bind def |
|
6041 /C14 { BL [] 0 setdash 2 copy moveto |
|
6042 2 copy vpt 90 360 arc closepath fill |
|
6043 vpt 0 360 arc } bind def |
|
6044 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
6045 vpt 0 360 arc closepath } bind def |
|
6046 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
6047 neg 0 rlineto closepath } bind def |
|
6048 /Square { dup Rec } bind def |
|
6049 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
6050 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
6051 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
6052 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
6053 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
6054 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
6055 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
6056 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
6057 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
6058 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
6059 2 copy vpt Square fill |
|
6060 Bsquare } bind def |
|
6061 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
6062 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
6063 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
6064 Bsquare } bind def |
|
6065 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
6066 Bsquare } bind def |
|
6067 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
6068 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
6069 2 copy vpt Square fill Bsquare } bind def |
|
6070 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
6071 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
6072 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
6073 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
6074 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
6075 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
6076 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
6077 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
6078 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
6079 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
6080 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
6081 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
6082 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
6083 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
6084 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
6085 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
6086 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
6087 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
6088 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
6089 /DiaE { stroke [] 0 setdash vpt add M |
|
6090 hpt neg vpt neg V hpt vpt neg V |
|
6091 hpt vpt V hpt neg vpt V closepath stroke } def |
|
6092 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
6093 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
6094 hpt2 neg 0 V closepath stroke } def |
|
6095 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
6096 hpt neg vpt -1.62 mul V |
|
6097 hpt 2 mul 0 V |
|
6098 hpt neg vpt 1.62 mul V closepath stroke } def |
|
6099 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
6100 hpt neg vpt 1.62 mul V |
|
6101 hpt 2 mul 0 V |
|
6102 hpt neg vpt -1.62 mul V closepath stroke } def |
|
6103 /PentE { stroke [] 0 setdash gsave |
|
6104 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
6105 closepath stroke grestore } def |
|
6106 /CircE { stroke [] 0 setdash |
|
6107 hpt 0 360 arc stroke } def |
|
6108 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
6109 end |
|
6110 gnudict begin |
|
6111 gsave |
|
6112 50 50 translate |
|
6113 0.050 0.050 scale |
|
6114 0 setgray |
|
6115 newpath |
|
6116 (Helvetica) findfont 140 scalefont setfont |
|
6117 LTb |
|
6118 672 560 M |
|
6119 63 0 V |
|
6120 4067 0 R |
|
6121 -63 0 V |
|
6122 588 560 M |
|
6123 (-2) Rshow |
|
6124 672 1076 M |
|
6125 63 0 V |
|
6126 4067 0 R |
|
6127 -63 0 V |
|
6128 -4151 0 R |
|
6129 (-1.5) Rshow |
|
6130 672 1593 M |
|
6131 63 0 V |
|
6132 4067 0 R |
|
6133 -63 0 V |
|
6134 -4151 0 R |
|
6135 (-1) Rshow |
|
6136 672 2109 M |
|
6137 63 0 V |
|
6138 4067 0 R |
|
6139 -63 0 V |
|
6140 -4151 0 R |
|
6141 (-0.5) Rshow |
|
6142 672 2625 M |
|
6143 63 0 V |
|
6144 4067 0 R |
|
6145 -63 0 V |
|
6146 -4151 0 R |
|
6147 (0) Rshow |
|
6148 672 3141 M |
|
6149 63 0 V |
|
6150 4067 0 R |
|
6151 -63 0 V |
|
6152 -4151 0 R |
|
6153 (0.5) Rshow |
|
6154 672 3658 M |
|
6155 63 0 V |
|
6156 4067 0 R |
|
6157 -63 0 V |
|
6158 -4151 0 R |
|
6159 (1) Rshow |
|
6160 672 4174 M |
|
6161 63 0 V |
|
6162 4067 0 R |
|
6163 -63 0 V |
|
6164 -4151 0 R |
|
6165 (1.5) Rshow |
|
6166 672 4690 M |
|
6167 63 0 V |
|
6168 4067 0 R |
|
6169 -63 0 V |
|
6170 -4151 0 R |
|
6171 (2) Rshow |
|
6172 672 560 M |
|
6173 0 63 V |
|
6174 0 4067 R |
|
6175 0 -63 V |
|
6176 672 420 M |
|
6177 (-2) Cshow |
|
6178 1188 560 M |
|
6179 0 63 V |
|
6180 0 4067 R |
|
6181 0 -63 V |
|
6182 0 -4207 R |
|
6183 (-1.5) Cshow |
|
6184 1705 560 M |
|
6185 0 63 V |
|
6186 0 4067 R |
|
6187 0 -63 V |
|
6188 0 -4207 R |
|
6189 (-1) Cshow |
|
6190 2221 560 M |
|
6191 0 63 V |
|
6192 0 4067 R |
|
6193 0 -63 V |
|
6194 0 -4207 R |
|
6195 (-0.5) Cshow |
|
6196 2737 560 M |
|
6197 0 63 V |
|
6198 0 4067 R |
|
6199 0 -63 V |
|
6200 0 -4207 R |
|
6201 (0) Cshow |
|
6202 3253 560 M |
|
6203 0 63 V |
|
6204 0 4067 R |
|
6205 0 -63 V |
|
6206 0 -4207 R |
|
6207 (0.5) Cshow |
|
6208 3770 560 M |
|
6209 0 63 V |
|
6210 0 4067 R |
|
6211 0 -63 V |
|
6212 0 -4207 R |
|
6213 (1) Cshow |
|
6214 4286 560 M |
|
6215 0 63 V |
|
6216 0 4067 R |
|
6217 0 -63 V |
|
6218 0 -4207 R |
|
6219 (1.5) Cshow |
|
6220 4802 560 M |
|
6221 0 63 V |
|
6222 0 4067 R |
|
6223 0 -63 V |
|
6224 0 -4207 R |
|
6225 (2) Cshow |
|
6226 LTb |
|
6227 672 560 M |
|
6228 4130 0 V |
|
6229 0 4130 V |
|
6230 -4130 0 V |
|
6231 672 560 L |
|
6232 2737 210 M |
|
6233 (rotate about eigenaxis 22.34 deg) Cshow |
|
6234 2737 4900 M |
|
6235 (yaw=20.00 deg, pitch=10.00 deg) Cshow |
|
6236 1.000 UP |
|
6237 1.000 UL |
|
6238 LT0 |
|
6239 4151 4557 M |
|
6240 (x \(body\)) Rshow |
|
6241 4235 4557 M |
|
6242 399 0 V |
|
6243 3136 2606 M |
|
6244 -399 19 V |
|
6245 3136 2606 Pls |
|
6246 2737 2625 Pls |
|
6247 4434 4557 Pls |
|
6248 1.000 UP |
|
6249 1.000 UL |
|
6250 LT1 |
|
6251 4151 4417 M |
|
6252 (y \(body\)) Rshow |
|
6253 4235 4417 M |
|
6254 399 0 V |
|
6255 2737 2625 M |
|
6256 844 485 V |
|
6257 2737 2625 Pls |
|
6258 3581 3110 Pls |
|
6259 4434 4417 Pls |
|
6260 1.000 UP |
|
6261 1.000 UL |
|
6262 LT2 |
|
6263 4151 4277 M |
|
6264 (z \(body\)) Rshow |
|
6265 4235 4277 M |
|
6266 399 0 V |
|
6267 2737 2625 M |
|
6268 441 -911 V |
|
6269 2737 2625 Crs |
|
6270 3178 1714 Crs |
|
6271 4434 4277 Crs |
|
6272 1.000 UP |
|
6273 1.000 UL |
|
6274 LT0 |
|
6275 4151 4137 M |
|
6276 (x \(inertial\)) Rshow |
|
6277 4235 4137 M |
|
6278 399 0 V |
|
6279 3467 2625 M |
|
6280 -730 0 V |
|
6281 3467 2625 Star |
|
6282 2737 2625 Star |
|
6283 4434 4137 Star |
|
6284 1.000 UP |
|
6285 1.000 UL |
|
6286 LT1 |
|
6287 4151 3997 M |
|
6288 (y \(inertial\)) Rshow |
|
6289 4235 3997 M |
|
6290 399 0 V |
|
6291 2737 2625 M |
|
6292 632 516 V |
|
6293 2737 2625 Star |
|
6294 3369 3141 Star |
|
6295 4434 3997 Star |
|
6296 1.000 UP |
|
6297 1.000 UL |
|
6298 LT2 |
|
6299 4151 3857 M |
|
6300 (z \(inertial\)) Rshow |
|
6301 4235 3857 M |
|
6302 399 0 V |
|
6303 2737 2625 M |
|
6304 365 -894 V |
|
6305 2737 2625 Box |
|
6306 3102 1731 Box |
|
6307 4434 3857 Box |
|
6308 1.000 UL |
|
6309 LT5 |
|
6310 4151 3717 M |
|
6311 (eigenaxis) Rshow |
|
6312 4235 3717 M |
|
6313 399 0 V |
|
6314 2737 2625 M |
|
6315 -384 878 V |
|
6316 89 18 V |
|
6317 6 11 V |
|
6318 0 9 V |
|
6319 -3 7 V |
|
6320 -7 5 V |
|
6321 -11 3 V |
|
6322 -15 1 V |
|
6323 -16 -1 V |
|
6324 -19 -4 V |
|
6325 -20 -6 V |
|
6326 -20 -8 V |
|
6327 1.000 UL |
|
6328 LT3 |
|
6329 3200 1215 M |
|
6330 -1460 0 V |
|
6331 1010 3003 L |
|
6332 2274 4035 L |
|
6333 1460 0 V |
|
6334 4464 2247 L |
|
6335 3200 1215 L |
|
6336 4464 2247 L |
|
6337 -1460 0 V |
|
6338 2274 4035 L |
|
6339 3004 2247 L |
|
6340 1740 1215 L |
|
6341 1.000 UL |
|
6342 LT4 |
|
6343 3734 4035 M |
|
6344 2470 3003 L |
|
6345 -1460 0 V |
|
6346 1460 0 V |
|
6347 3200 1215 L |
|
6348 stroke |
|
6349 grestore |
|
6350 end |
|
6351 showpage |
|
6352 @endspecial 2050 w @beginspecial 50 @llx 50 @lly 410 |
|
6353 @urx 302 @ury 2808 @rwi @setspecial |
|
6354 /gnudict 120 dict def |
|
6355 gnudict begin |
|
6356 /Color false def |
|
6357 /Solid false def |
|
6358 /gnulinewidth 5.000 def |
|
6359 /userlinewidth gnulinewidth def |
|
6360 /vshift -46 def |
|
6361 /dl {10 mul} def |
|
6362 /hpt_ 31.5 def |
|
6363 /vpt_ 31.5 def |
|
6364 /hpt hpt_ def |
|
6365 /vpt vpt_ def |
|
6366 /M {moveto} bind def |
|
6367 /L {lineto} bind def |
|
6368 /R {rmoveto} bind def |
|
6369 /V {rlineto} bind def |
|
6370 /vpt2 vpt 2 mul def |
|
6371 /hpt2 hpt 2 mul def |
|
6372 /Lshow { currentpoint stroke M |
|
6373 0 vshift R show } def |
|
6374 /Rshow { currentpoint stroke M |
|
6375 dup stringwidth pop neg vshift R show } def |
|
6376 /Cshow { currentpoint stroke M |
|
6377 dup stringwidth pop -2 div vshift R show } def |
|
6378 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
6379 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
6380 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
6381 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
6382 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
6383 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
6384 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
6385 /PL { stroke userlinewidth setlinewidth } def |
|
6386 /LTb { BL [] 0 0 0 DL } def |
|
6387 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
6388 /LT0 { PL [] 0 1 0 DL } def |
|
6389 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
6390 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
6391 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
6392 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
6393 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
6394 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
6395 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
6396 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
6397 /Pnt { stroke [] 0 setdash |
|
6398 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
6399 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
6400 hpt neg vpt neg V hpt vpt neg V |
|
6401 hpt vpt V hpt neg vpt V closepath stroke |
|
6402 Pnt } def |
|
6403 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
6404 currentpoint stroke M |
|
6405 hpt neg vpt neg R hpt2 0 V stroke |
|
6406 } def |
|
6407 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
6408 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
6409 hpt2 neg 0 V closepath stroke |
|
6410 Pnt } def |
|
6411 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
6412 hpt2 vpt2 neg V currentpoint stroke M |
|
6413 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
6414 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
6415 hpt neg vpt -1.62 mul V |
|
6416 hpt 2 mul 0 V |
|
6417 hpt neg vpt 1.62 mul V closepath stroke |
|
6418 Pnt } def |
|
6419 /Star { 2 copy Pls Crs } def |
|
6420 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
6421 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
6422 hpt2 neg 0 V closepath fill } def |
|
6423 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
6424 hpt neg vpt -1.62 mul V |
|
6425 hpt 2 mul 0 V |
|
6426 hpt neg vpt 1.62 mul V closepath fill } def |
|
6427 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
6428 hpt neg vpt 1.62 mul V |
|
6429 hpt 2 mul 0 V |
|
6430 hpt neg vpt -1.62 mul V closepath stroke |
|
6431 Pnt } def |
|
6432 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
6433 hpt neg vpt 1.62 mul V |
|
6434 hpt 2 mul 0 V |
|
6435 hpt neg vpt -1.62 mul V closepath fill} def |
|
6436 /DiaF { stroke [] 0 setdash vpt add M |
|
6437 hpt neg vpt neg V hpt vpt neg V |
|
6438 hpt vpt V hpt neg vpt V closepath fill } def |
|
6439 /Pent { stroke [] 0 setdash 2 copy gsave |
|
6440 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
6441 closepath stroke grestore Pnt } def |
|
6442 /PentF { stroke [] 0 setdash gsave |
|
6443 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
6444 closepath fill grestore } def |
|
6445 /Circle { stroke [] 0 setdash 2 copy |
|
6446 hpt 0 360 arc stroke Pnt } def |
|
6447 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
6448 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
6449 /C1 { BL [] 0 setdash 2 copy moveto |
|
6450 2 copy vpt 0 90 arc closepath fill |
|
6451 vpt 0 360 arc closepath } bind def |
|
6452 /C2 { BL [] 0 setdash 2 copy moveto |
|
6453 2 copy vpt 90 180 arc closepath fill |
|
6454 vpt 0 360 arc closepath } bind def |
|
6455 /C3 { BL [] 0 setdash 2 copy moveto |
|
6456 2 copy vpt 0 180 arc closepath fill |
|
6457 vpt 0 360 arc closepath } bind def |
|
6458 /C4 { BL [] 0 setdash 2 copy moveto |
|
6459 2 copy vpt 180 270 arc closepath fill |
|
6460 vpt 0 360 arc closepath } bind def |
|
6461 /C5 { BL [] 0 setdash 2 copy moveto |
|
6462 2 copy vpt 0 90 arc |
|
6463 2 copy moveto |
|
6464 2 copy vpt 180 270 arc closepath fill |
|
6465 vpt 0 360 arc } bind def |
|
6466 /C6 { BL [] 0 setdash 2 copy moveto |
|
6467 2 copy vpt 90 270 arc closepath fill |
|
6468 vpt 0 360 arc closepath } bind def |
|
6469 /C7 { BL [] 0 setdash 2 copy moveto |
|
6470 2 copy vpt 0 270 arc closepath fill |
|
6471 vpt 0 360 arc closepath } bind def |
|
6472 /C8 { BL [] 0 setdash 2 copy moveto |
|
6473 2 copy vpt 270 360 arc closepath fill |
|
6474 vpt 0 360 arc closepath } bind def |
|
6475 /C9 { BL [] 0 setdash 2 copy moveto |
|
6476 2 copy vpt 270 450 arc closepath fill |
|
6477 vpt 0 360 arc closepath } bind def |
|
6478 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
6479 2 copy moveto |
|
6480 2 copy vpt 90 180 arc closepath fill |
|
6481 vpt 0 360 arc closepath } bind def |
|
6482 /C11 { BL [] 0 setdash 2 copy moveto |
|
6483 2 copy vpt 0 180 arc closepath fill |
|
6484 2 copy moveto |
|
6485 2 copy vpt 270 360 arc closepath fill |
|
6486 vpt 0 360 arc closepath } bind def |
|
6487 /C12 { BL [] 0 setdash 2 copy moveto |
|
6488 2 copy vpt 180 360 arc closepath fill |
|
6489 vpt 0 360 arc closepath } bind def |
|
6490 /C13 { BL [] 0 setdash 2 copy moveto |
|
6491 2 copy vpt 0 90 arc closepath fill |
|
6492 2 copy moveto |
|
6493 2 copy vpt 180 360 arc closepath fill |
|
6494 vpt 0 360 arc closepath } bind def |
|
6495 /C14 { BL [] 0 setdash 2 copy moveto |
|
6496 2 copy vpt 90 360 arc closepath fill |
|
6497 vpt 0 360 arc } bind def |
|
6498 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
6499 vpt 0 360 arc closepath } bind def |
|
6500 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
6501 neg 0 rlineto closepath } bind def |
|
6502 /Square { dup Rec } bind def |
|
6503 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
6504 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
6505 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
6506 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
6507 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
6508 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
6509 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
6510 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
6511 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
6512 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
6513 2 copy vpt Square fill |
|
6514 Bsquare } bind def |
|
6515 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
6516 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
6517 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
6518 Bsquare } bind def |
|
6519 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
6520 Bsquare } bind def |
|
6521 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
6522 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
6523 2 copy vpt Square fill Bsquare } bind def |
|
6524 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
6525 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
6526 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
6527 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
6528 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
6529 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
6530 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
6531 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
6532 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
6533 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
6534 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
6535 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
6536 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
6537 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
6538 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
6539 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
6540 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
6541 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
6542 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
6543 /DiaE { stroke [] 0 setdash vpt add M |
|
6544 hpt neg vpt neg V hpt vpt neg V |
|
6545 hpt vpt V hpt neg vpt V closepath stroke } def |
|
6546 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
6547 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
6548 hpt2 neg 0 V closepath stroke } def |
|
6549 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
6550 hpt neg vpt -1.62 mul V |
|
6551 hpt 2 mul 0 V |
|
6552 hpt neg vpt 1.62 mul V closepath stroke } def |
|
6553 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
6554 hpt neg vpt 1.62 mul V |
|
6555 hpt 2 mul 0 V |
|
6556 hpt neg vpt -1.62 mul V closepath stroke } def |
|
6557 /PentE { stroke [] 0 setdash gsave |
|
6558 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
6559 closepath stroke grestore } def |
|
6560 /CircE { stroke [] 0 setdash |
|
6561 hpt 0 360 arc stroke } def |
|
6562 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
6563 end |
|
6564 gnudict begin |
|
6565 gsave |
|
6566 50 50 translate |
|
6567 0.050 0.050 scale |
|
6568 0 setgray |
|
6569 newpath |
|
6570 (Helvetica) findfont 140 scalefont setfont |
|
6571 LTb |
|
6572 672 560 M |
|
6573 63 0 V |
|
6574 4067 0 R |
|
6575 -63 0 V |
|
6576 588 560 M |
|
6577 (-2) Rshow |
|
6578 672 1076 M |
|
6579 63 0 V |
|
6580 4067 0 R |
|
6581 -63 0 V |
|
6582 -4151 0 R |
|
6583 (-1.5) Rshow |
|
6584 672 1593 M |
|
6585 63 0 V |
|
6586 4067 0 R |
|
6587 -63 0 V |
|
6588 -4151 0 R |
|
6589 (-1) Rshow |
|
6590 672 2109 M |
|
6591 63 0 V |
|
6592 4067 0 R |
|
6593 -63 0 V |
|
6594 -4151 0 R |
|
6595 (-0.5) Rshow |
|
6596 672 2625 M |
|
6597 63 0 V |
|
6598 4067 0 R |
|
6599 -63 0 V |
|
6600 -4151 0 R |
|
6601 (0) Rshow |
|
6602 672 3141 M |
|
6603 63 0 V |
|
6604 4067 0 R |
|
6605 -63 0 V |
|
6606 -4151 0 R |
|
6607 (0.5) Rshow |
|
6608 672 3658 M |
|
6609 63 0 V |
|
6610 4067 0 R |
|
6611 -63 0 V |
|
6612 -4151 0 R |
|
6613 (1) Rshow |
|
6614 672 4174 M |
|
6615 63 0 V |
|
6616 4067 0 R |
|
6617 -63 0 V |
|
6618 -4151 0 R |
|
6619 (1.5) Rshow |
|
6620 672 4690 M |
|
6621 63 0 V |
|
6622 4067 0 R |
|
6623 -63 0 V |
|
6624 -4151 0 R |
|
6625 (2) Rshow |
|
6626 672 560 M |
|
6627 0 63 V |
|
6628 0 4067 R |
|
6629 0 -63 V |
|
6630 672 420 M |
|
6631 (-2) Cshow |
|
6632 1188 560 M |
|
6633 0 63 V |
|
6634 0 4067 R |
|
6635 0 -63 V |
|
6636 0 -4207 R |
|
6637 (-1.5) Cshow |
|
6638 1705 560 M |
|
6639 0 63 V |
|
6640 0 4067 R |
|
6641 0 -63 V |
|
6642 0 -4207 R |
|
6643 (-1) Cshow |
|
6644 2221 560 M |
|
6645 0 63 V |
|
6646 0 4067 R |
|
6647 0 -63 V |
|
6648 0 -4207 R |
|
6649 (-0.5) Cshow |
|
6650 2737 560 M |
|
6651 0 63 V |
|
6652 0 4067 R |
|
6653 0 -63 V |
|
6654 0 -4207 R |
|
6655 (0) Cshow |
|
6656 3253 560 M |
|
6657 0 63 V |
|
6658 0 4067 R |
|
6659 0 -63 V |
|
6660 0 -4207 R |
|
6661 (0.5) Cshow |
|
6662 3770 560 M |
|
6663 0 63 V |
|
6664 0 4067 R |
|
6665 0 -63 V |
|
6666 0 -4207 R |
|
6667 (1) Cshow |
|
6668 4286 560 M |
|
6669 0 63 V |
|
6670 0 4067 R |
|
6671 0 -63 V |
|
6672 0 -4207 R |
|
6673 (1.5) Cshow |
|
6674 4802 560 M |
|
6675 0 63 V |
|
6676 0 4067 R |
|
6677 0 -63 V |
|
6678 0 -4207 R |
|
6679 (2) Cshow |
|
6680 LTb |
|
6681 672 560 M |
|
6682 4130 0 V |
|
6683 0 4130 V |
|
6684 -4130 0 V |
|
6685 672 560 L |
|
6686 2737 210 M |
|
6687 (rotate about eigenaxis 24.95 deg) Cshow |
|
6688 2737 4900 M |
|
6689 (yaw=20.00 deg, pitch=15.00 deg) Cshow |
|
6690 1.000 UP |
|
6691 1.000 UL |
|
6692 LT0 |
|
6693 4151 4557 M |
|
6694 (x \(body\)) Rshow |
|
6695 4235 4557 M |
|
6696 399 0 V |
|
6697 3096 2686 M |
|
6698 -359 -61 V |
|
6699 3096 2686 Pls |
|
6700 2737 2625 Pls |
|
6701 4434 4557 Pls |
|
6702 1.000 UP |
|
6703 1.000 UL |
|
6704 LT1 |
|
6705 4151 4417 M |
|
6706 (y \(body\)) Rshow |
|
6707 4235 4417 M |
|
6708 399 0 V |
|
6709 2737 2625 M |
|
6710 844 485 V |
|
6711 2737 2625 Pls |
|
6712 3581 3110 Pls |
|
6713 4434 4417 Pls |
|
6714 1.000 UP |
|
6715 1.000 UL |
|
6716 LT2 |
|
6717 4151 4277 M |
|
6718 (z \(body\)) Rshow |
|
6719 4235 4277 M |
|
6720 399 0 V |
|
6721 2737 2625 M |
|
6722 474 -909 V |
|
6723 2737 2625 Crs |
|
6724 3211 1716 Crs |
|
6725 4434 4277 Crs |
|
6726 1.000 UP |
|
6727 1.000 UL |
|
6728 LT0 |
|
6729 4151 4137 M |
|
6730 (x \(inertial\)) Rshow |
|
6731 4235 4137 M |
|
6732 399 0 V |
|
6733 3467 2625 M |
|
6734 -730 0 V |
|
6735 3467 2625 Star |
|
6736 2737 2625 Star |
|
6737 4434 4137 Star |
|
6738 1.000 UP |
|
6739 1.000 UL |
|
6740 LT1 |
|
6741 4151 3997 M |
|
6742 (y \(inertial\)) Rshow |
|
6743 4235 3997 M |
|
6744 399 0 V |
|
6745 2737 2625 M |
|
6746 632 516 V |
|
6747 2737 2625 Star |
|
6748 3369 3141 Star |
|
6749 4434 3997 Star |
|
6750 1.000 UP |
|
6751 1.000 UL |
|
6752 LT2 |
|
6753 4151 3857 M |
|
6754 (z \(inertial\)) Rshow |
|
6755 4235 3857 M |
|
6756 399 0 V |
|
6757 2737 2625 M |
|
6758 365 -894 V |
|
6759 2737 2625 Box |
|
6760 3102 1731 Box |
|
6761 4434 3857 Box |
|
6762 1.000 UL |
|
6763 LT5 |
|
6764 4151 3717 M |
|
6765 (eigenaxis) Rshow |
|
6766 4235 3717 M |
|
6767 399 0 V |
|
6768 2737 2625 M |
|
6769 -394 870 V |
|
6770 90 18 V |
|
6771 5 11 V |
|
6772 1 9 V |
|
6773 -4 8 V |
|
6774 -7 5 V |
|
6775 -11 3 V |
|
6776 -14 1 V |
|
6777 -17 -1 V |
|
6778 -19 -4 V |
|
6779 -20 -6 V |
|
6780 -19 -8 V |
|
6781 1.000 UL |
|
6782 LT3 |
|
6783 3200 1215 M |
|
6784 -1460 0 V |
|
6785 1010 3003 L |
|
6786 2274 4035 L |
|
6787 1460 0 V |
|
6788 4464 2247 L |
|
6789 3200 1215 L |
|
6790 4464 2247 L |
|
6791 -1460 0 V |
|
6792 2274 4035 L |
|
6793 3004 2247 L |
|
6794 1740 1215 L |
|
6795 1.000 UL |
|
6796 LT4 |
|
6797 3734 4035 M |
|
6798 2470 3003 L |
|
6799 -1460 0 V |
|
6800 1460 0 V |
|
6801 3200 1215 L |
|
6802 stroke |
|
6803 grestore |
|
6804 end |
|
6805 showpage |
|
6806 @endspecial eop |
|
6807 12 11 bop 0 100 a Fn(A.)31 b(S.)f(Ho)s(del:)40 b(Quaternions)29 |
|
6808 b(\(In)m(tro)s(duction\))g Fo(R)q(ev)s(ision)d Fq(:)f(1)p |
|
6809 Fo(:)p Fq(1)421 b Fn(\(c\))31 b(1998)871 b Fq(12)50 2045 |
|
6810 y @beginspecial 50 @llx 50 @lly 410 @urx 302 @ury 2808 |
|
6811 @rwi @setspecial |
|
6812 /gnudict 120 dict def |
|
6813 gnudict begin |
|
6814 /Color false def |
|
6815 /Solid false def |
|
6816 /gnulinewidth 5.000 def |
|
6817 /userlinewidth gnulinewidth def |
|
6818 /vshift -46 def |
|
6819 /dl {10 mul} def |
|
6820 /hpt_ 31.5 def |
|
6821 /vpt_ 31.5 def |
|
6822 /hpt hpt_ def |
|
6823 /vpt vpt_ def |
|
6824 /M {moveto} bind def |
|
6825 /L {lineto} bind def |
|
6826 /R {rmoveto} bind def |
|
6827 /V {rlineto} bind def |
|
6828 /vpt2 vpt 2 mul def |
|
6829 /hpt2 hpt 2 mul def |
|
6830 /Lshow { currentpoint stroke M |
|
6831 0 vshift R show } def |
|
6832 /Rshow { currentpoint stroke M |
|
6833 dup stringwidth pop neg vshift R show } def |
|
6834 /Cshow { currentpoint stroke M |
|
6835 dup stringwidth pop -2 div vshift R show } def |
|
6836 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
6837 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
6838 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
6839 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
6840 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
6841 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
6842 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
6843 /PL { stroke userlinewidth setlinewidth } def |
|
6844 /LTb { BL [] 0 0 0 DL } def |
|
6845 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
6846 /LT0 { PL [] 0 1 0 DL } def |
|
6847 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
6848 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
6849 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
6850 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
6851 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
6852 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
6853 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
6854 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
6855 /Pnt { stroke [] 0 setdash |
|
6856 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
6857 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
6858 hpt neg vpt neg V hpt vpt neg V |
|
6859 hpt vpt V hpt neg vpt V closepath stroke |
|
6860 Pnt } def |
|
6861 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
6862 currentpoint stroke M |
|
6863 hpt neg vpt neg R hpt2 0 V stroke |
|
6864 } def |
|
6865 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
6866 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
6867 hpt2 neg 0 V closepath stroke |
|
6868 Pnt } def |
|
6869 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
6870 hpt2 vpt2 neg V currentpoint stroke M |
|
6871 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
6872 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
6873 hpt neg vpt -1.62 mul V |
|
6874 hpt 2 mul 0 V |
|
6875 hpt neg vpt 1.62 mul V closepath stroke |
|
6876 Pnt } def |
|
6877 /Star { 2 copy Pls Crs } def |
|
6878 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
6879 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
6880 hpt2 neg 0 V closepath fill } def |
|
6881 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
6882 hpt neg vpt -1.62 mul V |
|
6883 hpt 2 mul 0 V |
|
6884 hpt neg vpt 1.62 mul V closepath fill } def |
|
6885 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
6886 hpt neg vpt 1.62 mul V |
|
6887 hpt 2 mul 0 V |
|
6888 hpt neg vpt -1.62 mul V closepath stroke |
|
6889 Pnt } def |
|
6890 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
6891 hpt neg vpt 1.62 mul V |
|
6892 hpt 2 mul 0 V |
|
6893 hpt neg vpt -1.62 mul V closepath fill} def |
|
6894 /DiaF { stroke [] 0 setdash vpt add M |
|
6895 hpt neg vpt neg V hpt vpt neg V |
|
6896 hpt vpt V hpt neg vpt V closepath fill } def |
|
6897 /Pent { stroke [] 0 setdash 2 copy gsave |
|
6898 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
6899 closepath stroke grestore Pnt } def |
|
6900 /PentF { stroke [] 0 setdash gsave |
|
6901 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
6902 closepath fill grestore } def |
|
6903 /Circle { stroke [] 0 setdash 2 copy |
|
6904 hpt 0 360 arc stroke Pnt } def |
|
6905 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
6906 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
6907 /C1 { BL [] 0 setdash 2 copy moveto |
|
6908 2 copy vpt 0 90 arc closepath fill |
|
6909 vpt 0 360 arc closepath } bind def |
|
6910 /C2 { BL [] 0 setdash 2 copy moveto |
|
6911 2 copy vpt 90 180 arc closepath fill |
|
6912 vpt 0 360 arc closepath } bind def |
|
6913 /C3 { BL [] 0 setdash 2 copy moveto |
|
6914 2 copy vpt 0 180 arc closepath fill |
|
6915 vpt 0 360 arc closepath } bind def |
|
6916 /C4 { BL [] 0 setdash 2 copy moveto |
|
6917 2 copy vpt 180 270 arc closepath fill |
|
6918 vpt 0 360 arc closepath } bind def |
|
6919 /C5 { BL [] 0 setdash 2 copy moveto |
|
6920 2 copy vpt 0 90 arc |
|
6921 2 copy moveto |
|
6922 2 copy vpt 180 270 arc closepath fill |
|
6923 vpt 0 360 arc } bind def |
|
6924 /C6 { BL [] 0 setdash 2 copy moveto |
|
6925 2 copy vpt 90 270 arc closepath fill |
|
6926 vpt 0 360 arc closepath } bind def |
|
6927 /C7 { BL [] 0 setdash 2 copy moveto |
|
6928 2 copy vpt 0 270 arc closepath fill |
|
6929 vpt 0 360 arc closepath } bind def |
|
6930 /C8 { BL [] 0 setdash 2 copy moveto |
|
6931 2 copy vpt 270 360 arc closepath fill |
|
6932 vpt 0 360 arc closepath } bind def |
|
6933 /C9 { BL [] 0 setdash 2 copy moveto |
|
6934 2 copy vpt 270 450 arc closepath fill |
|
6935 vpt 0 360 arc closepath } bind def |
|
6936 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
6937 2 copy moveto |
|
6938 2 copy vpt 90 180 arc closepath fill |
|
6939 vpt 0 360 arc closepath } bind def |
|
6940 /C11 { BL [] 0 setdash 2 copy moveto |
|
6941 2 copy vpt 0 180 arc closepath fill |
|
6942 2 copy moveto |
|
6943 2 copy vpt 270 360 arc closepath fill |
|
6944 vpt 0 360 arc closepath } bind def |
|
6945 /C12 { BL [] 0 setdash 2 copy moveto |
|
6946 2 copy vpt 180 360 arc closepath fill |
|
6947 vpt 0 360 arc closepath } bind def |
|
6948 /C13 { BL [] 0 setdash 2 copy moveto |
|
6949 2 copy vpt 0 90 arc closepath fill |
|
6950 2 copy moveto |
|
6951 2 copy vpt 180 360 arc closepath fill |
|
6952 vpt 0 360 arc closepath } bind def |
|
6953 /C14 { BL [] 0 setdash 2 copy moveto |
|
6954 2 copy vpt 90 360 arc closepath fill |
|
6955 vpt 0 360 arc } bind def |
|
6956 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
6957 vpt 0 360 arc closepath } bind def |
|
6958 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
6959 neg 0 rlineto closepath } bind def |
|
6960 /Square { dup Rec } bind def |
|
6961 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
6962 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
6963 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
6964 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
6965 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
6966 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
6967 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
6968 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
6969 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
6970 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
6971 2 copy vpt Square fill |
|
6972 Bsquare } bind def |
|
6973 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
6974 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
6975 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
6976 Bsquare } bind def |
|
6977 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
6978 Bsquare } bind def |
|
6979 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
6980 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
6981 2 copy vpt Square fill Bsquare } bind def |
|
6982 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
6983 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
6984 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
6985 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
6986 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
6987 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
6988 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
6989 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
6990 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
6991 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
6992 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
6993 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
6994 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
6995 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
6996 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
6997 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
6998 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
6999 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
7000 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
7001 /DiaE { stroke [] 0 setdash vpt add M |
|
7002 hpt neg vpt neg V hpt vpt neg V |
|
7003 hpt vpt V hpt neg vpt V closepath stroke } def |
|
7004 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
7005 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
7006 hpt2 neg 0 V closepath stroke } def |
|
7007 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
7008 hpt neg vpt -1.62 mul V |
|
7009 hpt 2 mul 0 V |
|
7010 hpt neg vpt 1.62 mul V closepath stroke } def |
|
7011 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
7012 hpt neg vpt 1.62 mul V |
|
7013 hpt 2 mul 0 V |
|
7014 hpt neg vpt -1.62 mul V closepath stroke } def |
|
7015 /PentE { stroke [] 0 setdash gsave |
|
7016 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
7017 closepath stroke grestore } def |
|
7018 /CircE { stroke [] 0 setdash |
|
7019 hpt 0 360 arc stroke } def |
|
7020 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
7021 end |
|
7022 gnudict begin |
|
7023 gsave |
|
7024 50 50 translate |
|
7025 0.050 0.050 scale |
|
7026 0 setgray |
|
7027 newpath |
|
7028 (Helvetica) findfont 140 scalefont setfont |
|
7029 LTb |
|
7030 672 560 M |
|
7031 63 0 V |
|
7032 4067 0 R |
|
7033 -63 0 V |
|
7034 588 560 M |
|
7035 (-2) Rshow |
|
7036 672 1076 M |
|
7037 63 0 V |
|
7038 4067 0 R |
|
7039 -63 0 V |
|
7040 -4151 0 R |
|
7041 (-1.5) Rshow |
|
7042 672 1593 M |
|
7043 63 0 V |
|
7044 4067 0 R |
|
7045 -63 0 V |
|
7046 -4151 0 R |
|
7047 (-1) Rshow |
|
7048 672 2109 M |
|
7049 63 0 V |
|
7050 4067 0 R |
|
7051 -63 0 V |
|
7052 -4151 0 R |
|
7053 (-0.5) Rshow |
|
7054 672 2625 M |
|
7055 63 0 V |
|
7056 4067 0 R |
|
7057 -63 0 V |
|
7058 -4151 0 R |
|
7059 (0) Rshow |
|
7060 672 3141 M |
|
7061 63 0 V |
|
7062 4067 0 R |
|
7063 -63 0 V |
|
7064 -4151 0 R |
|
7065 (0.5) Rshow |
|
7066 672 3658 M |
|
7067 63 0 V |
|
7068 4067 0 R |
|
7069 -63 0 V |
|
7070 -4151 0 R |
|
7071 (1) Rshow |
|
7072 672 4174 M |
|
7073 63 0 V |
|
7074 4067 0 R |
|
7075 -63 0 V |
|
7076 -4151 0 R |
|
7077 (1.5) Rshow |
|
7078 672 4690 M |
|
7079 63 0 V |
|
7080 4067 0 R |
|
7081 -63 0 V |
|
7082 -4151 0 R |
|
7083 (2) Rshow |
|
7084 672 560 M |
|
7085 0 63 V |
|
7086 0 4067 R |
|
7087 0 -63 V |
|
7088 672 420 M |
|
7089 (-2) Cshow |
|
7090 1188 560 M |
|
7091 0 63 V |
|
7092 0 4067 R |
|
7093 0 -63 V |
|
7094 0 -4207 R |
|
7095 (-1.5) Cshow |
|
7096 1705 560 M |
|
7097 0 63 V |
|
7098 0 4067 R |
|
7099 0 -63 V |
|
7100 0 -4207 R |
|
7101 (-1) Cshow |
|
7102 2221 560 M |
|
7103 0 63 V |
|
7104 0 4067 R |
|
7105 0 -63 V |
|
7106 0 -4207 R |
|
7107 (-0.5) Cshow |
|
7108 2737 560 M |
|
7109 0 63 V |
|
7110 0 4067 R |
|
7111 0 -63 V |
|
7112 0 -4207 R |
|
7113 (0) Cshow |
|
7114 3253 560 M |
|
7115 0 63 V |
|
7116 0 4067 R |
|
7117 0 -63 V |
|
7118 0 -4207 R |
|
7119 (0.5) Cshow |
|
7120 3770 560 M |
|
7121 0 63 V |
|
7122 0 4067 R |
|
7123 0 -63 V |
|
7124 0 -4207 R |
|
7125 (1) Cshow |
|
7126 4286 560 M |
|
7127 0 63 V |
|
7128 0 4067 R |
|
7129 0 -63 V |
|
7130 0 -4207 R |
|
7131 (1.5) Cshow |
|
7132 4802 560 M |
|
7133 0 63 V |
|
7134 0 4067 R |
|
7135 0 -63 V |
|
7136 0 -4207 R |
|
7137 (2) Cshow |
|
7138 LTb |
|
7139 672 560 M |
|
7140 4130 0 V |
|
7141 0 4130 V |
|
7142 -4130 0 V |
|
7143 672 560 L |
|
7144 2737 210 M |
|
7145 (rotate about eigenaxis 28.21 deg) Cshow |
|
7146 2737 4900 M |
|
7147 (yaw=20.00 deg, pitch=20.00 deg) Cshow |
|
7148 1.000 UP |
|
7149 1.000 UL |
|
7150 LT0 |
|
7151 4151 4557 M |
|
7152 (x \(body\)) Rshow |
|
7153 4235 4557 M |
|
7154 399 0 V |
|
7155 3054 2765 M |
|
7156 2737 2625 L |
|
7157 3054 2765 Pls |
|
7158 2737 2625 Pls |
|
7159 4434 4557 Pls |
|
7160 1.000 UP |
|
7161 1.000 UL |
|
7162 LT1 |
|
7163 4151 4417 M |
|
7164 (y \(body\)) Rshow |
|
7165 4235 4417 M |
|
7166 399 0 V |
|
7167 2737 2625 M |
|
7168 844 485 V |
|
7169 2737 2625 Pls |
|
7170 3581 3110 Pls |
|
7171 4434 4417 Pls |
|
7172 1.000 UP |
|
7173 1.000 UL |
|
7174 LT2 |
|
7175 4151 4277 M |
|
7176 (z \(body\)) Rshow |
|
7177 4235 4277 M |
|
7178 399 0 V |
|
7179 2737 2625 M |
|
7180 504 -901 V |
|
7181 2737 2625 Crs |
|
7182 3241 1724 Crs |
|
7183 4434 4277 Crs |
|
7184 1.000 UP |
|
7185 1.000 UL |
|
7186 LT0 |
|
7187 4151 4137 M |
|
7188 (x \(inertial\)) Rshow |
|
7189 4235 4137 M |
|
7190 399 0 V |
|
7191 3467 2625 M |
|
7192 -730 0 V |
|
7193 3467 2625 Star |
|
7194 2737 2625 Star |
|
7195 4434 4137 Star |
|
7196 1.000 UP |
|
7197 1.000 UL |
|
7198 LT1 |
|
7199 4151 3997 M |
|
7200 (y \(inertial\)) Rshow |
|
7201 4235 3997 M |
|
7202 399 0 V |
|
7203 2737 2625 M |
|
7204 632 516 V |
|
7205 2737 2625 Star |
|
7206 3369 3141 Star |
|
7207 4434 3997 Star |
|
7208 1.000 UP |
|
7209 1.000 UL |
|
7210 LT2 |
|
7211 4151 3857 M |
|
7212 (z \(inertial\)) Rshow |
|
7213 4235 3857 M |
|
7214 399 0 V |
|
7215 2737 2625 M |
|
7216 365 -894 V |
|
7217 2737 2625 Box |
|
7218 3102 1731 Box |
|
7219 4434 3857 Box |
|
7220 1.000 UL |
|
7221 LT5 |
|
7222 4151 3717 M |
|
7223 (eigenaxis) Rshow |
|
7224 4235 3717 M |
|
7225 399 0 V |
|
7226 2737 2625 M |
|
7227 -403 861 V |
|
7228 89 19 V |
|
7229 5 11 V |
|
7230 1 10 V |
|
7231 -3 7 V |
|
7232 -7 6 V |
|
7233 -11 3 V |
|
7234 -15 1 V |
|
7235 -16 -1 V |
|
7236 -19 -4 V |
|
7237 -20 -6 V |
|
7238 -19 -9 V |
|
7239 1.000 UL |
|
7240 LT3 |
|
7241 3200 1215 M |
|
7242 -1460 0 V |
|
7243 1010 3003 L |
|
7244 2274 4035 L |
|
7245 1460 0 V |
|
7246 4464 2247 L |
|
7247 3200 1215 L |
|
7248 4464 2247 L |
|
7249 -1460 0 V |
|
7250 2274 4035 L |
|
7251 3004 2247 L |
|
7252 1740 1215 L |
|
7253 1.000 UL |
|
7254 LT4 |
|
7255 3734 4035 M |
|
7256 2470 3003 L |
|
7257 -1460 0 V |
|
7258 1460 0 V |
|
7259 3200 1215 L |
|
7260 stroke |
|
7261 grestore |
|
7262 end |
|
7263 showpage |
|
7264 @endspecial 2050 w @beginspecial 50 @llx 50 @lly 410 |
|
7265 @urx 302 @ury 2808 @rwi @setspecial |
|
7266 /gnudict 120 dict def |
|
7267 gnudict begin |
|
7268 /Color false def |
|
7269 /Solid false def |
|
7270 /gnulinewidth 5.000 def |
|
7271 /userlinewidth gnulinewidth def |
|
7272 /vshift -46 def |
|
7273 /dl {10 mul} def |
|
7274 /hpt_ 31.5 def |
|
7275 /vpt_ 31.5 def |
|
7276 /hpt hpt_ def |
|
7277 /vpt vpt_ def |
|
7278 /M {moveto} bind def |
|
7279 /L {lineto} bind def |
|
7280 /R {rmoveto} bind def |
|
7281 /V {rlineto} bind def |
|
7282 /vpt2 vpt 2 mul def |
|
7283 /hpt2 hpt 2 mul def |
|
7284 /Lshow { currentpoint stroke M |
|
7285 0 vshift R show } def |
|
7286 /Rshow { currentpoint stroke M |
|
7287 dup stringwidth pop neg vshift R show } def |
|
7288 /Cshow { currentpoint stroke M |
|
7289 dup stringwidth pop -2 div vshift R show } def |
|
7290 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
7291 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
7292 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
7293 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
7294 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
7295 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
7296 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
7297 /PL { stroke userlinewidth setlinewidth } def |
|
7298 /LTb { BL [] 0 0 0 DL } def |
|
7299 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
7300 /LT0 { PL [] 0 1 0 DL } def |
|
7301 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
7302 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
7303 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
7304 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
7305 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
7306 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
7307 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
7308 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
7309 /Pnt { stroke [] 0 setdash |
|
7310 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
7311 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
7312 hpt neg vpt neg V hpt vpt neg V |
|
7313 hpt vpt V hpt neg vpt V closepath stroke |
|
7314 Pnt } def |
|
7315 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
7316 currentpoint stroke M |
|
7317 hpt neg vpt neg R hpt2 0 V stroke |
|
7318 } def |
|
7319 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
7320 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
7321 hpt2 neg 0 V closepath stroke |
|
7322 Pnt } def |
|
7323 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
7324 hpt2 vpt2 neg V currentpoint stroke M |
|
7325 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
7326 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
7327 hpt neg vpt -1.62 mul V |
|
7328 hpt 2 mul 0 V |
|
7329 hpt neg vpt 1.62 mul V closepath stroke |
|
7330 Pnt } def |
|
7331 /Star { 2 copy Pls Crs } def |
|
7332 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
7333 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
7334 hpt2 neg 0 V closepath fill } def |
|
7335 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
7336 hpt neg vpt -1.62 mul V |
|
7337 hpt 2 mul 0 V |
|
7338 hpt neg vpt 1.62 mul V closepath fill } def |
|
7339 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
7340 hpt neg vpt 1.62 mul V |
|
7341 hpt 2 mul 0 V |
|
7342 hpt neg vpt -1.62 mul V closepath stroke |
|
7343 Pnt } def |
|
7344 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
7345 hpt neg vpt 1.62 mul V |
|
7346 hpt 2 mul 0 V |
|
7347 hpt neg vpt -1.62 mul V closepath fill} def |
|
7348 /DiaF { stroke [] 0 setdash vpt add M |
|
7349 hpt neg vpt neg V hpt vpt neg V |
|
7350 hpt vpt V hpt neg vpt V closepath fill } def |
|
7351 /Pent { stroke [] 0 setdash 2 copy gsave |
|
7352 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
7353 closepath stroke grestore Pnt } def |
|
7354 /PentF { stroke [] 0 setdash gsave |
|
7355 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
7356 closepath fill grestore } def |
|
7357 /Circle { stroke [] 0 setdash 2 copy |
|
7358 hpt 0 360 arc stroke Pnt } def |
|
7359 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
7360 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
7361 /C1 { BL [] 0 setdash 2 copy moveto |
|
7362 2 copy vpt 0 90 arc closepath fill |
|
7363 vpt 0 360 arc closepath } bind def |
|
7364 /C2 { BL [] 0 setdash 2 copy moveto |
|
7365 2 copy vpt 90 180 arc closepath fill |
|
7366 vpt 0 360 arc closepath } bind def |
|
7367 /C3 { BL [] 0 setdash 2 copy moveto |
|
7368 2 copy vpt 0 180 arc closepath fill |
|
7369 vpt 0 360 arc closepath } bind def |
|
7370 /C4 { BL [] 0 setdash 2 copy moveto |
|
7371 2 copy vpt 180 270 arc closepath fill |
|
7372 vpt 0 360 arc closepath } bind def |
|
7373 /C5 { BL [] 0 setdash 2 copy moveto |
|
7374 2 copy vpt 0 90 arc |
|
7375 2 copy moveto |
|
7376 2 copy vpt 180 270 arc closepath fill |
|
7377 vpt 0 360 arc } bind def |
|
7378 /C6 { BL [] 0 setdash 2 copy moveto |
|
7379 2 copy vpt 90 270 arc closepath fill |
|
7380 vpt 0 360 arc closepath } bind def |
|
7381 /C7 { BL [] 0 setdash 2 copy moveto |
|
7382 2 copy vpt 0 270 arc closepath fill |
|
7383 vpt 0 360 arc closepath } bind def |
|
7384 /C8 { BL [] 0 setdash 2 copy moveto |
|
7385 2 copy vpt 270 360 arc closepath fill |
|
7386 vpt 0 360 arc closepath } bind def |
|
7387 /C9 { BL [] 0 setdash 2 copy moveto |
|
7388 2 copy vpt 270 450 arc closepath fill |
|
7389 vpt 0 360 arc closepath } bind def |
|
7390 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
7391 2 copy moveto |
|
7392 2 copy vpt 90 180 arc closepath fill |
|
7393 vpt 0 360 arc closepath } bind def |
|
7394 /C11 { BL [] 0 setdash 2 copy moveto |
|
7395 2 copy vpt 0 180 arc closepath fill |
|
7396 2 copy moveto |
|
7397 2 copy vpt 270 360 arc closepath fill |
|
7398 vpt 0 360 arc closepath } bind def |
|
7399 /C12 { BL [] 0 setdash 2 copy moveto |
|
7400 2 copy vpt 180 360 arc closepath fill |
|
7401 vpt 0 360 arc closepath } bind def |
|
7402 /C13 { BL [] 0 setdash 2 copy moveto |
|
7403 2 copy vpt 0 90 arc closepath fill |
|
7404 2 copy moveto |
|
7405 2 copy vpt 180 360 arc closepath fill |
|
7406 vpt 0 360 arc closepath } bind def |
|
7407 /C14 { BL [] 0 setdash 2 copy moveto |
|
7408 2 copy vpt 90 360 arc closepath fill |
|
7409 vpt 0 360 arc } bind def |
|
7410 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
7411 vpt 0 360 arc closepath } bind def |
|
7412 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
7413 neg 0 rlineto closepath } bind def |
|
7414 /Square { dup Rec } bind def |
|
7415 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
7416 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
7417 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
7418 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
7419 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
7420 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
7421 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
7422 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
7423 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
7424 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
7425 2 copy vpt Square fill |
|
7426 Bsquare } bind def |
|
7427 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
7428 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
7429 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
7430 Bsquare } bind def |
|
7431 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
7432 Bsquare } bind def |
|
7433 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
7434 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
7435 2 copy vpt Square fill Bsquare } bind def |
|
7436 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
7437 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
7438 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
7439 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
7440 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
7441 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
7442 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
7443 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
7444 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
7445 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
7446 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
7447 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
7448 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
7449 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
7450 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
7451 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
7452 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
7453 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
7454 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
7455 /DiaE { stroke [] 0 setdash vpt add M |
|
7456 hpt neg vpt neg V hpt vpt neg V |
|
7457 hpt vpt V hpt neg vpt V closepath stroke } def |
|
7458 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
7459 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
7460 hpt2 neg 0 V closepath stroke } def |
|
7461 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
7462 hpt neg vpt -1.62 mul V |
|
7463 hpt 2 mul 0 V |
|
7464 hpt neg vpt 1.62 mul V closepath stroke } def |
|
7465 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
7466 hpt neg vpt 1.62 mul V |
|
7467 hpt 2 mul 0 V |
|
7468 hpt neg vpt -1.62 mul V closepath stroke } def |
|
7469 /PentE { stroke [] 0 setdash gsave |
|
7470 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
7471 closepath stroke grestore } def |
|
7472 /CircE { stroke [] 0 setdash |
|
7473 hpt 0 360 arc stroke } def |
|
7474 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
7475 end |
|
7476 gnudict begin |
|
7477 gsave |
|
7478 50 50 translate |
|
7479 0.050 0.050 scale |
|
7480 0 setgray |
|
7481 newpath |
|
7482 (Helvetica) findfont 140 scalefont setfont |
|
7483 LTb |
|
7484 672 560 M |
|
7485 63 0 V |
|
7486 4067 0 R |
|
7487 -63 0 V |
|
7488 588 560 M |
|
7489 (-2) Rshow |
|
7490 672 1076 M |
|
7491 63 0 V |
|
7492 4067 0 R |
|
7493 -63 0 V |
|
7494 -4151 0 R |
|
7495 (-1.5) Rshow |
|
7496 672 1593 M |
|
7497 63 0 V |
|
7498 4067 0 R |
|
7499 -63 0 V |
|
7500 -4151 0 R |
|
7501 (-1) Rshow |
|
7502 672 2109 M |
|
7503 63 0 V |
|
7504 4067 0 R |
|
7505 -63 0 V |
|
7506 -4151 0 R |
|
7507 (-0.5) Rshow |
|
7508 672 2625 M |
|
7509 63 0 V |
|
7510 4067 0 R |
|
7511 -63 0 V |
|
7512 -4151 0 R |
|
7513 (0) Rshow |
|
7514 672 3141 M |
|
7515 63 0 V |
|
7516 4067 0 R |
|
7517 -63 0 V |
|
7518 -4151 0 R |
|
7519 (0.5) Rshow |
|
7520 672 3658 M |
|
7521 63 0 V |
|
7522 4067 0 R |
|
7523 -63 0 V |
|
7524 -4151 0 R |
|
7525 (1) Rshow |
|
7526 672 4174 M |
|
7527 63 0 V |
|
7528 4067 0 R |
|
7529 -63 0 V |
|
7530 -4151 0 R |
|
7531 (1.5) Rshow |
|
7532 672 4690 M |
|
7533 63 0 V |
|
7534 4067 0 R |
|
7535 -63 0 V |
|
7536 -4151 0 R |
|
7537 (2) Rshow |
|
7538 672 560 M |
|
7539 0 63 V |
|
7540 0 4067 R |
|
7541 0 -63 V |
|
7542 672 420 M |
|
7543 (-2) Cshow |
|
7544 1188 560 M |
|
7545 0 63 V |
|
7546 0 4067 R |
|
7547 0 -63 V |
|
7548 0 -4207 R |
|
7549 (-1.5) Cshow |
|
7550 1705 560 M |
|
7551 0 63 V |
|
7552 0 4067 R |
|
7553 0 -63 V |
|
7554 0 -4207 R |
|
7555 (-1) Cshow |
|
7556 2221 560 M |
|
7557 0 63 V |
|
7558 0 4067 R |
|
7559 0 -63 V |
|
7560 0 -4207 R |
|
7561 (-0.5) Cshow |
|
7562 2737 560 M |
|
7563 0 63 V |
|
7564 0 4067 R |
|
7565 0 -63 V |
|
7566 0 -4207 R |
|
7567 (0) Cshow |
|
7568 3253 560 M |
|
7569 0 63 V |
|
7570 0 4067 R |
|
7571 0 -63 V |
|
7572 0 -4207 R |
|
7573 (0.5) Cshow |
|
7574 3770 560 M |
|
7575 0 63 V |
|
7576 0 4067 R |
|
7577 0 -63 V |
|
7578 0 -4207 R |
|
7579 (1) Cshow |
|
7580 4286 560 M |
|
7581 0 63 V |
|
7582 0 4067 R |
|
7583 0 -63 V |
|
7584 0 -4207 R |
|
7585 (1.5) Cshow |
|
7586 4802 560 M |
|
7587 0 63 V |
|
7588 0 4067 R |
|
7589 0 -63 V |
|
7590 0 -4207 R |
|
7591 (2) Cshow |
|
7592 LTb |
|
7593 672 560 M |
|
7594 4130 0 V |
|
7595 0 4130 V |
|
7596 -4130 0 V |
|
7597 672 560 L |
|
7598 2737 210 M |
|
7599 (rotate about eigenaxis 28.71 deg) Cshow |
|
7600 2737 4900 M |
|
7601 (yaw=20.00, pitch=20.00, roll=10.00 \(deg\)) Cshow |
|
7602 1.000 UP |
|
7603 1.000 UL |
|
7604 LT0 |
|
7605 4151 4557 M |
|
7606 (x \(body\)) Rshow |
|
7607 4235 4557 M |
|
7608 399 0 V |
|
7609 3622 3070 M |
|
7610 2737 2625 L |
|
7611 3622 3070 Pls |
|
7612 2737 2625 Pls |
|
7613 4434 4557 Pls |
|
7614 1.000 UP |
|
7615 1.000 UL |
|
7616 LT1 |
|
7617 4151 4417 M |
|
7618 (y \(body\)) Rshow |
|
7619 4235 4417 M |
|
7620 399 0 V |
|
7621 2737 2625 M |
|
7622 236 176 V |
|
7623 2737 2625 Pls |
|
7624 2973 2801 Pls |
|
7625 4434 4417 Pls |
|
7626 1.000 UP |
|
7627 1.000 UL |
|
7628 LT2 |
|
7629 4151 4277 M |
|
7630 (z \(body\)) Rshow |
|
7631 4235 4277 M |
|
7632 399 0 V |
|
7633 2737 2625 M |
|
7634 476 -915 V |
|
7635 2737 2625 Crs |
|
7636 3213 1710 Crs |
|
7637 4434 4277 Crs |
|
7638 1.000 UP |
|
7639 1.000 UL |
|
7640 LT0 |
|
7641 4151 4137 M |
|
7642 (x \(inertial\)) Rshow |
|
7643 4235 4137 M |
|
7644 399 0 V |
|
7645 3631 2625 M |
|
7646 -894 0 V |
|
7647 3631 2625 Star |
|
7648 2737 2625 Star |
|
7649 4434 4137 Star |
|
7650 1.000 UP |
|
7651 1.000 UL |
|
7652 LT1 |
|
7653 4151 3997 M |
|
7654 (y \(inertial\)) Rshow |
|
7655 4235 3997 M |
|
7656 399 0 V |
|
7657 2737 2625 M |
|
7658 485 353 V |
|
7659 2737 2625 Star |
|
7660 3222 2978 Star |
|
7661 4434 3997 Star |
|
7662 1.000 UP |
|
7663 1.000 UL |
|
7664 LT2 |
|
7665 4151 3857 M |
|
7666 (z \(inertial\)) Rshow |
|
7667 4235 3857 M |
|
7668 399 0 V |
|
7669 2737 2625 M |
|
7670 177 -970 V |
|
7671 2737 2625 Box |
|
7672 2914 1655 Box |
|
7673 4434 3857 Box |
|
7674 1.000 UL |
|
7675 LT5 |
|
7676 4151 3717 M |
|
7677 (eigenaxis) Rshow |
|
7678 4235 3717 M |
|
7679 399 0 V |
|
7680 2737 2625 M |
|
7681 -140 990 V |
|
7682 100 8 V |
|
7683 2 6 V |
|
7684 -2 5 V |
|
7685 -7 4 V |
|
7686 -11 3 V |
|
7687 -14 2 V |
|
7688 -18 1 V |
|
7689 -19 0 V |
|
7690 -21 -2 V |
|
7691 -22 -3 V |
|
7692 -21 -4 V |
|
7693 1.000 UL |
|
7694 LT3 |
|
7695 3323 1302 M |
|
7696 -1789 0 V |
|
7697 1181 3242 L |
|
7698 970 706 V |
|
7699 1789 0 V |
|
7700 4293 2008 L |
|
7701 3323 1302 L |
|
7702 970 706 V |
|
7703 -1788 0 V |
|
7704 2151 3948 L |
|
7705 2505 2008 L |
|
7706 1534 1302 L |
|
7707 1.000 UL |
|
7708 LT4 |
|
7709 3940 3948 M |
|
7710 2969 3242 L |
|
7711 -1788 0 V |
|
7712 1788 0 V |
|
7713 3323 1302 L |
|
7714 stroke |
|
7715 grestore |
|
7716 end |
|
7717 showpage |
|
7718 @endspecial 50 3833 a @beginspecial 50 @llx 50 @lly |
|
7719 410 @urx 302 @ury 2808 @rwi @setspecial |
|
7720 /gnudict 120 dict def |
|
7721 gnudict begin |
|
7722 /Color false def |
|
7723 /Solid false def |
|
7724 /gnulinewidth 5.000 def |
|
7725 /userlinewidth gnulinewidth def |
|
7726 /vshift -46 def |
|
7727 /dl {10 mul} def |
|
7728 /hpt_ 31.5 def |
|
7729 /vpt_ 31.5 def |
|
7730 /hpt hpt_ def |
|
7731 /vpt vpt_ def |
|
7732 /M {moveto} bind def |
|
7733 /L {lineto} bind def |
|
7734 /R {rmoveto} bind def |
|
7735 /V {rlineto} bind def |
|
7736 /vpt2 vpt 2 mul def |
|
7737 /hpt2 hpt 2 mul def |
|
7738 /Lshow { currentpoint stroke M |
|
7739 0 vshift R show } def |
|
7740 /Rshow { currentpoint stroke M |
|
7741 dup stringwidth pop neg vshift R show } def |
|
7742 /Cshow { currentpoint stroke M |
|
7743 dup stringwidth pop -2 div vshift R show } def |
|
7744 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
7745 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
7746 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
7747 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
7748 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
7749 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
7750 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
7751 /PL { stroke userlinewidth setlinewidth } def |
|
7752 /LTb { BL [] 0 0 0 DL } def |
|
7753 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
7754 /LT0 { PL [] 0 1 0 DL } def |
|
7755 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
7756 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
7757 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
7758 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
7759 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
7760 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
7761 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
7762 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
7763 /Pnt { stroke [] 0 setdash |
|
7764 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
7765 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
7766 hpt neg vpt neg V hpt vpt neg V |
|
7767 hpt vpt V hpt neg vpt V closepath stroke |
|
7768 Pnt } def |
|
7769 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
7770 currentpoint stroke M |
|
7771 hpt neg vpt neg R hpt2 0 V stroke |
|
7772 } def |
|
7773 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
7774 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
7775 hpt2 neg 0 V closepath stroke |
|
7776 Pnt } def |
|
7777 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
7778 hpt2 vpt2 neg V currentpoint stroke M |
|
7779 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
7780 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
7781 hpt neg vpt -1.62 mul V |
|
7782 hpt 2 mul 0 V |
|
7783 hpt neg vpt 1.62 mul V closepath stroke |
|
7784 Pnt } def |
|
7785 /Star { 2 copy Pls Crs } def |
|
7786 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
7787 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
7788 hpt2 neg 0 V closepath fill } def |
|
7789 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
7790 hpt neg vpt -1.62 mul V |
|
7791 hpt 2 mul 0 V |
|
7792 hpt neg vpt 1.62 mul V closepath fill } def |
|
7793 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
7794 hpt neg vpt 1.62 mul V |
|
7795 hpt 2 mul 0 V |
|
7796 hpt neg vpt -1.62 mul V closepath stroke |
|
7797 Pnt } def |
|
7798 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
7799 hpt neg vpt 1.62 mul V |
|
7800 hpt 2 mul 0 V |
|
7801 hpt neg vpt -1.62 mul V closepath fill} def |
|
7802 /DiaF { stroke [] 0 setdash vpt add M |
|
7803 hpt neg vpt neg V hpt vpt neg V |
|
7804 hpt vpt V hpt neg vpt V closepath fill } def |
|
7805 /Pent { stroke [] 0 setdash 2 copy gsave |
|
7806 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
7807 closepath stroke grestore Pnt } def |
|
7808 /PentF { stroke [] 0 setdash gsave |
|
7809 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
7810 closepath fill grestore } def |
|
7811 /Circle { stroke [] 0 setdash 2 copy |
|
7812 hpt 0 360 arc stroke Pnt } def |
|
7813 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
7814 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
7815 /C1 { BL [] 0 setdash 2 copy moveto |
|
7816 2 copy vpt 0 90 arc closepath fill |
|
7817 vpt 0 360 arc closepath } bind def |
|
7818 /C2 { BL [] 0 setdash 2 copy moveto |
|
7819 2 copy vpt 90 180 arc closepath fill |
|
7820 vpt 0 360 arc closepath } bind def |
|
7821 /C3 { BL [] 0 setdash 2 copy moveto |
|
7822 2 copy vpt 0 180 arc closepath fill |
|
7823 vpt 0 360 arc closepath } bind def |
|
7824 /C4 { BL [] 0 setdash 2 copy moveto |
|
7825 2 copy vpt 180 270 arc closepath fill |
|
7826 vpt 0 360 arc closepath } bind def |
|
7827 /C5 { BL [] 0 setdash 2 copy moveto |
|
7828 2 copy vpt 0 90 arc |
|
7829 2 copy moveto |
|
7830 2 copy vpt 180 270 arc closepath fill |
|
7831 vpt 0 360 arc } bind def |
|
7832 /C6 { BL [] 0 setdash 2 copy moveto |
|
7833 2 copy vpt 90 270 arc closepath fill |
|
7834 vpt 0 360 arc closepath } bind def |
|
7835 /C7 { BL [] 0 setdash 2 copy moveto |
|
7836 2 copy vpt 0 270 arc closepath fill |
|
7837 vpt 0 360 arc closepath } bind def |
|
7838 /C8 { BL [] 0 setdash 2 copy moveto |
|
7839 2 copy vpt 270 360 arc closepath fill |
|
7840 vpt 0 360 arc closepath } bind def |
|
7841 /C9 { BL [] 0 setdash 2 copy moveto |
|
7842 2 copy vpt 270 450 arc closepath fill |
|
7843 vpt 0 360 arc closepath } bind def |
|
7844 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
7845 2 copy moveto |
|
7846 2 copy vpt 90 180 arc closepath fill |
|
7847 vpt 0 360 arc closepath } bind def |
|
7848 /C11 { BL [] 0 setdash 2 copy moveto |
|
7849 2 copy vpt 0 180 arc closepath fill |
|
7850 2 copy moveto |
|
7851 2 copy vpt 270 360 arc closepath fill |
|
7852 vpt 0 360 arc closepath } bind def |
|
7853 /C12 { BL [] 0 setdash 2 copy moveto |
|
7854 2 copy vpt 180 360 arc closepath fill |
|
7855 vpt 0 360 arc closepath } bind def |
|
7856 /C13 { BL [] 0 setdash 2 copy moveto |
|
7857 2 copy vpt 0 90 arc closepath fill |
|
7858 2 copy moveto |
|
7859 2 copy vpt 180 360 arc closepath fill |
|
7860 vpt 0 360 arc closepath } bind def |
|
7861 /C14 { BL [] 0 setdash 2 copy moveto |
|
7862 2 copy vpt 90 360 arc closepath fill |
|
7863 vpt 0 360 arc } bind def |
|
7864 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
7865 vpt 0 360 arc closepath } bind def |
|
7866 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
7867 neg 0 rlineto closepath } bind def |
|
7868 /Square { dup Rec } bind def |
|
7869 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
7870 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
7871 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
7872 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
7873 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
7874 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
7875 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
7876 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
7877 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
7878 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
7879 2 copy vpt Square fill |
|
7880 Bsquare } bind def |
|
7881 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
7882 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
7883 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
7884 Bsquare } bind def |
|
7885 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
7886 Bsquare } bind def |
|
7887 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
7888 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
7889 2 copy vpt Square fill Bsquare } bind def |
|
7890 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
7891 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
7892 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
7893 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
7894 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
7895 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
7896 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
7897 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
7898 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
7899 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
7900 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
7901 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
7902 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
7903 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
7904 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
7905 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
7906 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
7907 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
7908 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
7909 /DiaE { stroke [] 0 setdash vpt add M |
|
7910 hpt neg vpt neg V hpt vpt neg V |
|
7911 hpt vpt V hpt neg vpt V closepath stroke } def |
|
7912 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
7913 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
7914 hpt2 neg 0 V closepath stroke } def |
|
7915 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
7916 hpt neg vpt -1.62 mul V |
|
7917 hpt 2 mul 0 V |
|
7918 hpt neg vpt 1.62 mul V closepath stroke } def |
|
7919 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
7920 hpt neg vpt 1.62 mul V |
|
7921 hpt 2 mul 0 V |
|
7922 hpt neg vpt -1.62 mul V closepath stroke } def |
|
7923 /PentE { stroke [] 0 setdash gsave |
|
7924 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
7925 closepath stroke grestore } def |
|
7926 /CircE { stroke [] 0 setdash |
|
7927 hpt 0 360 arc stroke } def |
|
7928 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
7929 end |
|
7930 gnudict begin |
|
7931 gsave |
|
7932 50 50 translate |
|
7933 0.050 0.050 scale |
|
7934 0 setgray |
|
7935 newpath |
|
7936 (Helvetica) findfont 140 scalefont setfont |
|
7937 LTb |
|
7938 672 560 M |
|
7939 63 0 V |
|
7940 4067 0 R |
|
7941 -63 0 V |
|
7942 588 560 M |
|
7943 (-2) Rshow |
|
7944 672 1076 M |
|
7945 63 0 V |
|
7946 4067 0 R |
|
7947 -63 0 V |
|
7948 -4151 0 R |
|
7949 (-1.5) Rshow |
|
7950 672 1593 M |
|
7951 63 0 V |
|
7952 4067 0 R |
|
7953 -63 0 V |
|
7954 -4151 0 R |
|
7955 (-1) Rshow |
|
7956 672 2109 M |
|
7957 63 0 V |
|
7958 4067 0 R |
|
7959 -63 0 V |
|
7960 -4151 0 R |
|
7961 (-0.5) Rshow |
|
7962 672 2625 M |
|
7963 63 0 V |
|
7964 4067 0 R |
|
7965 -63 0 V |
|
7966 -4151 0 R |
|
7967 (0) Rshow |
|
7968 672 3141 M |
|
7969 63 0 V |
|
7970 4067 0 R |
|
7971 -63 0 V |
|
7972 -4151 0 R |
|
7973 (0.5) Rshow |
|
7974 672 3658 M |
|
7975 63 0 V |
|
7976 4067 0 R |
|
7977 -63 0 V |
|
7978 -4151 0 R |
|
7979 (1) Rshow |
|
7980 672 4174 M |
|
7981 63 0 V |
|
7982 4067 0 R |
|
7983 -63 0 V |
|
7984 -4151 0 R |
|
7985 (1.5) Rshow |
|
7986 672 4690 M |
|
7987 63 0 V |
|
7988 4067 0 R |
|
7989 -63 0 V |
|
7990 -4151 0 R |
|
7991 (2) Rshow |
|
7992 672 560 M |
|
7993 0 63 V |
|
7994 0 4067 R |
|
7995 0 -63 V |
|
7996 672 420 M |
|
7997 (-2) Cshow |
|
7998 1188 560 M |
|
7999 0 63 V |
|
8000 0 4067 R |
|
8001 0 -63 V |
|
8002 0 -4207 R |
|
8003 (-1.5) Cshow |
|
8004 1705 560 M |
|
8005 0 63 V |
|
8006 0 4067 R |
|
8007 0 -63 V |
|
8008 0 -4207 R |
|
8009 (-1) Cshow |
|
8010 2221 560 M |
|
8011 0 63 V |
|
8012 0 4067 R |
|
8013 0 -63 V |
|
8014 0 -4207 R |
|
8015 (-0.5) Cshow |
|
8016 2737 560 M |
|
8017 0 63 V |
|
8018 0 4067 R |
|
8019 0 -63 V |
|
8020 0 -4207 R |
|
8021 (0) Cshow |
|
8022 3253 560 M |
|
8023 0 63 V |
|
8024 0 4067 R |
|
8025 0 -63 V |
|
8026 0 -4207 R |
|
8027 (0.5) Cshow |
|
8028 3770 560 M |
|
8029 0 63 V |
|
8030 0 4067 R |
|
8031 0 -63 V |
|
8032 0 -4207 R |
|
8033 (1) Cshow |
|
8034 4286 560 M |
|
8035 0 63 V |
|
8036 0 4067 R |
|
8037 0 -63 V |
|
8038 0 -4207 R |
|
8039 (1.5) Cshow |
|
8040 4802 560 M |
|
8041 0 63 V |
|
8042 0 4067 R |
|
8043 0 -63 V |
|
8044 0 -4207 R |
|
8045 (2) Cshow |
|
8046 LTb |
|
8047 672 560 M |
|
8048 4130 0 V |
|
8049 0 4130 V |
|
8050 -4130 0 V |
|
8051 672 560 L |
|
8052 2737 210 M |
|
8053 (rotate about eigenaxis 30.19 deg) Cshow |
|
8054 2737 4900 M |
|
8055 (yaw=20.00, pitch=20.00, roll=15.00 \(deg\)) Cshow |
|
8056 1.000 UP |
|
8057 1.000 UL |
|
8058 LT0 |
|
8059 4151 4557 M |
|
8060 (x \(body\)) Rshow |
|
8061 4235 4557 M |
|
8062 399 0 V |
|
8063 3622 3070 M |
|
8064 2737 2625 L |
|
8065 3622 3070 Pls |
|
8066 2737 2625 Pls |
|
8067 4434 4557 Pls |
|
8068 1.000 UP |
|
8069 1.000 UL |
|
8070 LT1 |
|
8071 4151 4417 M |
|
8072 (y \(body\)) Rshow |
|
8073 4235 4417 M |
|
8074 399 0 V |
|
8075 2737 2625 M |
|
8076 277 95 V |
|
8077 2737 2625 Pls |
|
8078 3014 2720 Pls |
|
8079 4434 4417 Pls |
|
8080 1.000 UP |
|
8081 1.000 UL |
|
8082 LT2 |
|
8083 4151 4277 M |
|
8084 (z \(body\)) Rshow |
|
8085 4235 4277 M |
|
8086 399 0 V |
|
8087 2737 2625 M |
|
8088 454 -927 V |
|
8089 2737 2625 Crs |
|
8090 3191 1698 Crs |
|
8091 4434 4277 Crs |
|
8092 1.000 UP |
|
8093 1.000 UL |
|
8094 LT0 |
|
8095 4151 4137 M |
|
8096 (x \(inertial\)) Rshow |
|
8097 4235 4137 M |
|
8098 399 0 V |
|
8099 3631 2625 M |
|
8100 -894 0 V |
|
8101 3631 2625 Star |
|
8102 2737 2625 Star |
|
8103 4434 4137 Star |
|
8104 1.000 UP |
|
8105 1.000 UL |
|
8106 LT1 |
|
8107 4151 3997 M |
|
8108 (y \(inertial\)) Rshow |
|
8109 4235 3997 M |
|
8110 399 0 V |
|
8111 2737 2625 M |
|
8112 485 353 V |
|
8113 2737 2625 Star |
|
8114 3222 2978 Star |
|
8115 4434 3997 Star |
|
8116 1.000 UP |
|
8117 1.000 UL |
|
8118 LT2 |
|
8119 4151 3857 M |
|
8120 (z \(inertial\)) Rshow |
|
8121 4235 3857 M |
|
8122 399 0 V |
|
8123 2737 2625 M |
|
8124 177 -970 V |
|
8125 2737 2625 Box |
|
8126 2914 1655 Box |
|
8127 4434 3857 Box |
|
8128 1.000 UL |
|
8129 LT5 |
|
8130 4151 3717 M |
|
8131 (eigenaxis) Rshow |
|
8132 4235 3717 M |
|
8133 399 0 V |
|
8134 2737 2625 M |
|
8135 -129 990 V |
|
8136 100 6 V |
|
8137 3 6 V |
|
8138 -2 5 V |
|
8139 -7 5 V |
|
8140 -10 3 V |
|
8141 -15 3 V |
|
8142 -17 1 V |
|
8143 -19 0 V |
|
8144 -21 -1 V |
|
8145 -22 -3 V |
|
8146 -21 -4 V |
|
8147 1.000 UL |
|
8148 LT3 |
|
8149 3323 1302 M |
|
8150 -1789 0 V |
|
8151 1181 3242 L |
|
8152 970 706 V |
|
8153 1789 0 V |
|
8154 4293 2008 L |
|
8155 3323 1302 L |
|
8156 970 706 V |
|
8157 -1788 0 V |
|
8158 2151 3948 L |
|
8159 2505 2008 L |
|
8160 1534 1302 L |
|
8161 1.000 UL |
|
8162 LT4 |
|
8163 3940 3948 M |
|
8164 2969 3242 L |
|
8165 -1788 0 V |
|
8166 1788 0 V |
|
8167 3323 1302 L |
|
8168 stroke |
|
8169 grestore |
|
8170 end |
|
8171 showpage |
|
8172 @endspecial 2050 w @beginspecial 50 @llx 50 @lly 410 |
|
8173 @urx 302 @ury 2808 @rwi @setspecial |
|
8174 /gnudict 120 dict def |
|
8175 gnudict begin |
|
8176 /Color false def |
|
8177 /Solid false def |
|
8178 /gnulinewidth 5.000 def |
|
8179 /userlinewidth gnulinewidth def |
|
8180 /vshift -46 def |
|
8181 /dl {10 mul} def |
|
8182 /hpt_ 31.5 def |
|
8183 /vpt_ 31.5 def |
|
8184 /hpt hpt_ def |
|
8185 /vpt vpt_ def |
|
8186 /M {moveto} bind def |
|
8187 /L {lineto} bind def |
|
8188 /R {rmoveto} bind def |
|
8189 /V {rlineto} bind def |
|
8190 /vpt2 vpt 2 mul def |
|
8191 /hpt2 hpt 2 mul def |
|
8192 /Lshow { currentpoint stroke M |
|
8193 0 vshift R show } def |
|
8194 /Rshow { currentpoint stroke M |
|
8195 dup stringwidth pop neg vshift R show } def |
|
8196 /Cshow { currentpoint stroke M |
|
8197 dup stringwidth pop -2 div vshift R show } def |
|
8198 /UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def |
|
8199 /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def |
|
8200 /DL { Color {setrgbcolor Solid {pop []} if 0 setdash } |
|
8201 {pop pop pop Solid {pop []} if 0 setdash} ifelse } def |
|
8202 /BL { stroke gnulinewidth 2 mul setlinewidth } def |
|
8203 /AL { stroke gnulinewidth 2 div setlinewidth } def |
|
8204 /UL { gnulinewidth mul /userlinewidth exch def } def |
|
8205 /PL { stroke userlinewidth setlinewidth } def |
|
8206 /LTb { BL [] 0 0 0 DL } def |
|
8207 /LTa { AL [1 dl 2 dl] 0 setdash 0 0 0 setrgbcolor } def |
|
8208 /LT0 { PL [] 0 1 0 DL } def |
|
8209 /LT1 { PL [4 dl 2 dl] 0 0 1 DL } def |
|
8210 /LT2 { PL [2 dl 3 dl] 1 0 0 DL } def |
|
8211 /LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def |
|
8212 /LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def |
|
8213 /LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def |
|
8214 /LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def |
|
8215 /LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def |
|
8216 /LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def |
|
8217 /Pnt { stroke [] 0 setdash |
|
8218 gsave 1 setlinecap M 0 0 V stroke grestore } def |
|
8219 /Dia { stroke [] 0 setdash 2 copy vpt add M |
|
8220 hpt neg vpt neg V hpt vpt neg V |
|
8221 hpt vpt V hpt neg vpt V closepath stroke |
|
8222 Pnt } def |
|
8223 /Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V |
|
8224 currentpoint stroke M |
|
8225 hpt neg vpt neg R hpt2 0 V stroke |
|
8226 } def |
|
8227 /Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M |
|
8228 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
8229 hpt2 neg 0 V closepath stroke |
|
8230 Pnt } def |
|
8231 /Crs { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
8232 hpt2 vpt2 neg V currentpoint stroke M |
|
8233 hpt2 neg 0 R hpt2 vpt2 V stroke } def |
|
8234 /TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M |
|
8235 hpt neg vpt -1.62 mul V |
|
8236 hpt 2 mul 0 V |
|
8237 hpt neg vpt 1.62 mul V closepath stroke |
|
8238 Pnt } def |
|
8239 /Star { 2 copy Pls Crs } def |
|
8240 /BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
8241 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
8242 hpt2 neg 0 V closepath fill } def |
|
8243 /TriUF { stroke [] 0 setdash vpt 1.12 mul add M |
|
8244 hpt neg vpt -1.62 mul V |
|
8245 hpt 2 mul 0 V |
|
8246 hpt neg vpt 1.62 mul V closepath fill } def |
|
8247 /TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M |
|
8248 hpt neg vpt 1.62 mul V |
|
8249 hpt 2 mul 0 V |
|
8250 hpt neg vpt -1.62 mul V closepath stroke |
|
8251 Pnt } def |
|
8252 /TriDF { stroke [] 0 setdash vpt 1.12 mul sub M |
|
8253 hpt neg vpt 1.62 mul V |
|
8254 hpt 2 mul 0 V |
|
8255 hpt neg vpt -1.62 mul V closepath fill} def |
|
8256 /DiaF { stroke [] 0 setdash vpt add M |
|
8257 hpt neg vpt neg V hpt vpt neg V |
|
8258 hpt vpt V hpt neg vpt V closepath fill } def |
|
8259 /Pent { stroke [] 0 setdash 2 copy gsave |
|
8260 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
8261 closepath stroke grestore Pnt } def |
|
8262 /PentF { stroke [] 0 setdash gsave |
|
8263 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
8264 closepath fill grestore } def |
|
8265 /Circle { stroke [] 0 setdash 2 copy |
|
8266 hpt 0 360 arc stroke Pnt } def |
|
8267 /CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def |
|
8268 /C0 { BL [] 0 setdash 2 copy moveto vpt 90 450 arc } bind def |
|
8269 /C1 { BL [] 0 setdash 2 copy moveto |
|
8270 2 copy vpt 0 90 arc closepath fill |
|
8271 vpt 0 360 arc closepath } bind def |
|
8272 /C2 { BL [] 0 setdash 2 copy moveto |
|
8273 2 copy vpt 90 180 arc closepath fill |
|
8274 vpt 0 360 arc closepath } bind def |
|
8275 /C3 { BL [] 0 setdash 2 copy moveto |
|
8276 2 copy vpt 0 180 arc closepath fill |
|
8277 vpt 0 360 arc closepath } bind def |
|
8278 /C4 { BL [] 0 setdash 2 copy moveto |
|
8279 2 copy vpt 180 270 arc closepath fill |
|
8280 vpt 0 360 arc closepath } bind def |
|
8281 /C5 { BL [] 0 setdash 2 copy moveto |
|
8282 2 copy vpt 0 90 arc |
|
8283 2 copy moveto |
|
8284 2 copy vpt 180 270 arc closepath fill |
|
8285 vpt 0 360 arc } bind def |
|
8286 /C6 { BL [] 0 setdash 2 copy moveto |
|
8287 2 copy vpt 90 270 arc closepath fill |
|
8288 vpt 0 360 arc closepath } bind def |
|
8289 /C7 { BL [] 0 setdash 2 copy moveto |
|
8290 2 copy vpt 0 270 arc closepath fill |
|
8291 vpt 0 360 arc closepath } bind def |
|
8292 /C8 { BL [] 0 setdash 2 copy moveto |
|
8293 2 copy vpt 270 360 arc closepath fill |
|
8294 vpt 0 360 arc closepath } bind def |
|
8295 /C9 { BL [] 0 setdash 2 copy moveto |
|
8296 2 copy vpt 270 450 arc closepath fill |
|
8297 vpt 0 360 arc closepath } bind def |
|
8298 /C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill |
|
8299 2 copy moveto |
|
8300 2 copy vpt 90 180 arc closepath fill |
|
8301 vpt 0 360 arc closepath } bind def |
|
8302 /C11 { BL [] 0 setdash 2 copy moveto |
|
8303 2 copy vpt 0 180 arc closepath fill |
|
8304 2 copy moveto |
|
8305 2 copy vpt 270 360 arc closepath fill |
|
8306 vpt 0 360 arc closepath } bind def |
|
8307 /C12 { BL [] 0 setdash 2 copy moveto |
|
8308 2 copy vpt 180 360 arc closepath fill |
|
8309 vpt 0 360 arc closepath } bind def |
|
8310 /C13 { BL [] 0 setdash 2 copy moveto |
|
8311 2 copy vpt 0 90 arc closepath fill |
|
8312 2 copy moveto |
|
8313 2 copy vpt 180 360 arc closepath fill |
|
8314 vpt 0 360 arc closepath } bind def |
|
8315 /C14 { BL [] 0 setdash 2 copy moveto |
|
8316 2 copy vpt 90 360 arc closepath fill |
|
8317 vpt 0 360 arc } bind def |
|
8318 /C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill |
|
8319 vpt 0 360 arc closepath } bind def |
|
8320 /Rec { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto |
|
8321 neg 0 rlineto closepath } bind def |
|
8322 /Square { dup Rec } bind def |
|
8323 /Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def |
|
8324 /S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def |
|
8325 /S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def |
|
8326 /S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
8327 /S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def |
|
8328 /S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
8329 /S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill |
|
8330 exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def |
|
8331 /S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
8332 /S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill |
|
8333 2 copy vpt Square fill |
|
8334 Bsquare } bind def |
|
8335 /S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def |
|
8336 /S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def |
|
8337 /S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill |
|
8338 Bsquare } bind def |
|
8339 /S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill |
|
8340 Bsquare } bind def |
|
8341 /S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def |
|
8342 /S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
8343 2 copy vpt Square fill Bsquare } bind def |
|
8344 /S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill |
|
8345 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def |
|
8346 /S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def |
|
8347 /D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def |
|
8348 /D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def |
|
8349 /D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def |
|
8350 /D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def |
|
8351 /D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def |
|
8352 /D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def |
|
8353 /D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def |
|
8354 /D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def |
|
8355 /D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def |
|
8356 /D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def |
|
8357 /D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def |
|
8358 /D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def |
|
8359 /D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def |
|
8360 /D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def |
|
8361 /D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def |
|
8362 /D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def |
|
8363 /DiaE { stroke [] 0 setdash vpt add M |
|
8364 hpt neg vpt neg V hpt vpt neg V |
|
8365 hpt vpt V hpt neg vpt V closepath stroke } def |
|
8366 /BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M |
|
8367 0 vpt2 neg V hpt2 0 V 0 vpt2 V |
|
8368 hpt2 neg 0 V closepath stroke } def |
|
8369 /TriUE { stroke [] 0 setdash vpt 1.12 mul add M |
|
8370 hpt neg vpt -1.62 mul V |
|
8371 hpt 2 mul 0 V |
|
8372 hpt neg vpt 1.62 mul V closepath stroke } def |
|
8373 /TriDE { stroke [] 0 setdash vpt 1.12 mul sub M |
|
8374 hpt neg vpt 1.62 mul V |
|
8375 hpt 2 mul 0 V |
|
8376 hpt neg vpt -1.62 mul V closepath stroke } def |
|
8377 /PentE { stroke [] 0 setdash gsave |
|
8378 translate 0 hpt M 4 {72 rotate 0 hpt L} repeat |
|
8379 closepath stroke grestore } def |
|
8380 /CircE { stroke [] 0 setdash |
|
8381 hpt 0 360 arc stroke } def |
|
8382 /BoxFill { gsave Rec 1 setgray fill grestore } def |
|
8383 end |
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8384 gnudict begin |
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|
8672 1940 910 a 2002 899 li 1943 880 li st 0 1548 a Fq(Then)28 |
|
8673 b(Euler's)g(appro)m(ximation)h(of)g(a)h(rotation)g(o)m(v)m(er)g(\001)p |
|
8674 Fo(t)f Fq(seconds)g(is)g Fo(q)2462 1562 y Fh(r)2525 1548 |
|
8675 y Fq(=)2631 1525 y(\026)2621 1548 y(\012)14 b(sin)o(\()p |
|
8676 Fo(!)s Fq(\001)p Fo(t=)p Fq(2\))19 b(+)f(cos)q(\()p Fo(!)s |
|
8677 Fq(\001)p Fo(t=)p Fq(2\).)41 b(F)-8 b(or)0 1661 y(\001)p |
|
8678 Fo(t)30 b Fq(su\016cien)m(tly)f(small,)g(cos)q(\()p Fo(!)s |
|
8679 Fq(\001)p Fo(t=)p Fq(2\))d Fl(\031)f Fq(1)31 b(and)f(sin)n(\()p |
|
8680 Fo(!)s Fq(\001)p Fo(t=)p Fq(2\))c Fl(\031)f Fo(!)s Fq(\001)p |
|
8681 Fo(t=)p Fq(2,)31 b(so)g Fo(q)2713 1675 y Fh(r)2781 1661 |
|
8682 y Fq(ma)m(y)g(b)s(e)f(appro)m(ximated)g(as)1576 1892 |
|
8683 y Fo(q)1617 1906 y Fh(r)1680 1892 y Fl(\031)25 b Fq(1)c(+)1932 |
|
8684 1773 y Fi(\022)2004 1830 y Fo(!)s Fq(\001)p Fo(t)p 2004 |
|
8685 1871 169 4 v 2065 1954 a Fq(2)2182 1773 y Fi(\023)2268 |
|
8686 1869 y Fq(\026)2258 1892 y(\012)0 2117 y(Th)m(us)1239 |
|
8687 2325 y Fo(q)1280 2340 y Fh(b)1314 2325 y Fq(\()p Fo(t)g |
|
8688 Fq(+)e(\001)p Fo(t)p Fq(\))83 b(=)g Fo(q)1915 2340 y |
|
8689 Fh(b)1949 2325 y Fq(\()p Fo(t)p Fq(\))2067 2206 y Fi(\022)2129 |
|
8690 2325 y Fq(1)21 b(+)2285 2206 y Fi(\022)2357 2264 y Fo(!)s |
|
8691 Fq(\001)p Fo(t)p 2357 2304 V 2418 2388 a Fq(2)2535 2206 |
|
8692 y Fi(\023)2621 2302 y Fq(\026)2611 2325 y(\012)f(+)g |
|
8693 Fl(\001)15 b(\001)g(\001)2894 2206 y Fi(\023)950 2559 |
|
8694 y Fo(q)991 2574 y Fh(b)1025 2559 y Fq(\()p Fo(t)20 b |
|
8695 Fq(+)g(\001)p Fo(t)p Fq(\))g Fl(\000)g Fo(q)1500 2574 |
|
8696 y Fh(b)1534 2559 y Fq(\()p Fo(t)p Fq(\))83 b(=)g Fo(q)1915 |
|
8697 2574 y Fh(b)1949 2559 y Fq(\()p Fo(t)p Fq(\))2067 2440 |
|
8698 y Fi(\022)2139 2497 y Fo(!)s Fq(\001)p Fo(t)p 2139 2538 |
|
8699 V 2200 2621 a Fq(2)2317 2440 y Fi(\023)2404 2536 y Fq(\026)2393 |
|
8700 2559 y(\012)20 b(+)g Fl(\001)15 b(\001)g(\001)940 2737 |
|
8701 y Fo(q)981 2752 y Fh(b)1015 2737 y Fq(\()p Fo(t)20 b |
|
8702 Fq(+)g(\001)p Fo(t)p Fq(\))g Fl(\000)g Fo(q)1490 2752 |
|
8703 y Fh(b)1524 2737 y Fq(\()p Fo(t)p Fq(\))p 940 2778 688 |
|
8704 4 v 1229 2861 a(\001)p Fo(t)1720 2799 y Fq(=)1874 2680 |
|
8705 y Fi(\022)1945 2737 y Fo(!)p 1945 2778 60 4 v 1952 2861 |
|
8706 a Fq(2)2015 2680 y Fi(\023)2091 2799 y Fo(q)2132 2814 |
|
8707 y Fh(b)2166 2799 y Fq(\()p Fo(t)p Fq(\))2279 2776 y(\026)2269 |
|
8708 2799 y(\012)h(+)f Fl(\001)15 b(\001)g(\001)0 3024 y Fq(W)-8 |
|
8709 b(e)32 b(tak)m(e)g(the)e(limit)e(at)j(\001)p Fo(t)25 |
|
8710 b Fl(!)g Fq(0)31 b(to)g(obtain)978 3171 y Fo(dq)1066 |
|
8711 3186 y Fh(b)p 978 3212 123 4 v 999 3295 a Fo(dt)1136 |
|
8712 3233 y Fq(=)1232 3114 y Fi(\022)1303 3171 y Fo(!)p 1303 |
|
8713 3212 60 4 v 1310 3295 a Fq(2)1373 3114 y Fi(\023)1449 |
|
8714 3233 y Fo(q)1490 3248 y Fh(b)1524 3233 y Fq(\()p Fo(t)p |
|
8715 Fq(\))1637 3210 y(\026)1627 3233 y(\012)25 b(=)1824 3171 |
|
8716 y Fo(!)p 1824 3212 V 1831 3295 a Fq(2)1909 3164 y Fi(\000)1947 |
|
8717 3233 y Fo(q)1988 3248 y Fh(b;)p Fk(4)2087 3210 y Fq(\026)2077 |
|
8718 3233 y(\012)20 b Fl(\000)g Fq(\()7 b(\026)-52 b Fo(q)2330 |
|
8719 3248 y Fh(b)2384 3233 y Fl(\001)2440 3210 y Fq(\026)2430 |
|
8720 3233 y(\012)o(\))21 b Fl(\000)2652 3210 y Fq(\026)2642 |
|
8721 3233 y(\012)f Fl(\002)26 b Fq(\026)-51 b Fo(q)2860 3248 |
|
8722 y Fh(b)2894 3164 y Fi(\001)0 3592 y Fq(where)30 b Fo(x)21 |
|
8723 b Fl(\001)f Fo(y)29 b Fq(=)552 3528 y Fi(P)655 3592 y |
|
8724 Fo(x)707 3607 y Fh(`)740 3592 y Fo(y)785 3607 y Fh(`)848 |
|
8725 3592 y Fq(is)h(the)h(v)m(ector)h(inner)d(\(dot\))j(pro)s(duct)d(and)h |
|
8726 Fo(x)21 b Fl(\002)f Fo(y)29 b Fq(=)2689 3395 y Fi(\014)2689 |
|
8727 3445 y(\014)2689 3494 y(\014)2689 3544 y(\014)2689 3594 |
|
8728 y(\014)2689 3644 y(\014)2689 3694 y(\014)2716 3398 y(2)2716 |
|
8729 3544 y(6)2716 3597 y(4)2836 3462 y Fq(^)2843 3483 y Fo(i)3010 |
|
8730 3462 y Fq(^)3012 3483 y Fo(j)3185 3459 y Fq(^)3182 3483 |
|
8731 y Fo(k)2813 3596 y(x)2865 3610 y Fk(1)2987 3596 y Fo(x)3039 |
|
8732 3610 y Fk(2)3162 3596 y Fo(x)3214 3610 y Fk(3)2817 3709 |
|
8733 y Fo(y)2862 3723 y Fk(1)2991 3709 y Fo(y)3036 3723 y |
|
8734 Fk(2)3166 3709 y Fo(y)3211 3723 y Fk(3)3295 3398 y Fi(3)3295 |
|
8735 3544 y(7)3295 3597 y(5)3350 3395 y(\014)3350 3445 y(\014)3350 |
|
8736 3494 y(\014)3350 3544 y(\014)3350 3594 y(\014)3350 3644 |
|
8737 y(\014)3350 3694 y(\014)3409 3592 y Fq(is)g(the)i(v)m(ector)0 |
|
8738 3815 y(cross)f(pro)s(duct.)40 b(In)30 b(matrix)f(form)h(this)g(is)1011 |
|
8739 3922 y Fi(2)1011 4068 y(6)1011 4118 y(6)1011 4168 y(6)1011 |
|
8740 4221 y(4)1125 3996 y Fq(_)-42 b Fo(q)1149 4011 y Fh(b)p |
|
8741 Fk(1)1125 4109 y Fq(_)g Fo(q)1149 4124 y Fh(b)p Fk(2)1125 |
|
8742 4222 y Fq(_)g Fo(q)1149 4237 y Fh(b)p Fk(3)1125 4335 |
|
8743 y Fq(_)g Fo(q)1149 4350 y Fh(b)p Fk(4)1260 3922 y Fi(3)1260 |
|
8744 4068 y(7)1260 4118 y(7)1260 4168 y(7)1260 4221 y(5)1340 |
|
8745 4166 y Fq(=)1446 4104 y Fo(!)p 1446 4145 V 1453 4228 |
|
8746 a Fq(2)1531 3922 y Fi(2)1531 4068 y(6)1531 4118 y(6)1531 |
|
8747 4168 y(6)1531 4221 y(4)1688 3996 y Fq(0)180 b Fo(!)1970 |
|
8748 4010 y Fk(3)2127 3996 y Fl(\000)p Fo(!)2255 4010 y Fk(2)2377 |
|
8749 3996 y Fo(!)2434 4010 y Fk(1)1628 4109 y Fl(\000)p Fo(!)1756 |
|
8750 4123 y Fk(3)1938 4109 y Fq(0)g Fo(!)2220 4123 y Fk(1)2377 |
|
8751 4109 y Fo(!)2434 4123 y Fk(2)1663 4222 y Fo(!)1720 4236 |
|
8752 y Fk(2)1878 4222 y Fl(\000)p Fo(!)2006 4236 y Fk(1)2188 |
|
8753 4222 y Fq(0)144 b Fo(!)2434 4236 y Fk(3)1628 4335 y Fl(\000)p |
|
8754 Fo(!)1756 4349 y Fk(1)1878 4335 y Fl(\000)p Fo(!)2006 |
|
8755 4349 y Fk(2)2127 4335 y Fl(\000)p Fo(!)2255 4349 y Fk(3)2402 |
|
8756 4335 y Fq(0)2515 3922 y Fi(3)2515 4068 y(7)2515 4118 |
|
8757 y(7)2515 4168 y(7)2515 4221 y(5)2585 3922 y(2)2585 4068 |
|
8758 y(6)2585 4118 y(6)2585 4168 y(6)2585 4221 y(4)2682 3996 |
|
8759 y Fo(q)2723 4011 y Fh(b)p Fk(1)2682 4109 y Fo(q)2723 |
|
8760 4124 y Fh(b)p Fk(2)2682 4222 y Fo(q)2723 4237 y Fh(b)p |
|
8761 Fk(3)2682 4335 y Fo(q)2723 4350 y Fh(b)p Fk(4)2834 3922 |
|
8762 y Fi(3)2834 4068 y(7)2834 4118 y(7)2834 4168 y(7)2834 |
|
8763 4221 y(5)0 4522 y Fq(Notice)31 b(that)g(the)g(4)21 b |
|
8764 Fl(\002)e Fq(4)31 b(matrix)f(is)f(sk)m(ew)i(symmetric)f(\(hence)h(its)e |
|
8765 (matrix)h(exp)s(onen)m(tial)f(is)h(orthogonal\).)0 4806 |
|
8766 y Fp(References)0 5009 y Fq([Mul])127 b(Larry)30 b(Mullins.)37 |
|
8767 b(Course)30 b(4160:)43 b(Quaternions.)c(Course)30 b(notes.)0 |
|
8768 5192 y([R)-10 b(W91])47 b(M.)41 b(H.)g(Rheinfurth)d(and)h(H.)i(B.)g |
|
8769 (Wilson.)70 b(Metho)s(ds)40 b(of)h(applied)d(dynamics.)69 |
|
8770 b(T)-8 b(ec)m(hnical)40 b(Rep)s(ort)337 5305 y(NASA)30 |
|
8771 b(RP-1262,)j(NASA,)e(George)h(C.)e(Marshall)f(Space)h(Fligh)m(t)g(Cen)m |
|
8772 (ter,)h(1991.)p eop |
|
8773 14 13 bop 0 527 a Fp(Index)0 709 y Fq(conjugate)166 821 |
|
8774 y(quaternion,)30 b(3)0 1017 y(Euler)f(angles)166 1130 |
|
8775 y(quaternions,)g(6)0 1326 y(Octa)m(v)m(e)166 1439 y Fj(qinv)p |
|
8776 Fq(,)h(3)166 1552 y Fj(qmult)p Fq(,)f(3)166 1665 y Fj(qtrans)p |
|
8777 Fq(,)g(4)166 1778 y(qtransv,)h(8)166 1891 y(qtransvmat,)h(8)166 |
|
8778 2004 y Fj(quaternion)p Fq(,)d(2)0 2200 y(quaternions)166 |
|
8779 2313 y(as)j(co)s(ordinate)f(rotations,)h(3)166 2425 y(co)s(ordinate)f |
|
8780 (transformation,)g(4)166 2538 y(co)s(ordinate)g(transformation)g |
|
8781 (matrices,)h(6)166 2651 y(cross)g(pro)s(ducts,)e(2)166 |
|
8782 2764 y(de\014nition,)f(2)166 2877 y(deriv)-5 b(ativ)m(es,)30 |
|
8783 b(12)166 2990 y(Euler)f(angles,)h(6)166 3103 y(m)m(ultiplication,)e(2) |
|
8784 166 3216 y(unit)h(quaternions,)g(3)1905 5656 y(14)p eop |
|
8785 end |
|
8786 userdict /end-hook known{end-hook}if |