/*! Get the angular velocity of the body in the universal frame.
*/
Vector3d Body::getAngularVelocity(double tdb) const
{
const TimelinePhase* phase = timeline->findPhase(tdb);
Vector3d v = phase->rotationModel()->angularVelocityAtTime(tdb);
ReferenceFrame* bodyFrame = phase->bodyFrame();
v = bodyFrame->getOrientation(tdb).conjugate() * v;
if (!bodyFrame->isInertial())
{
v += bodyFrame->getAngularVelocity(tdb);
}
return v;
}
/*! Get the velocity of the body in the universal frame.
*/
Vector3d Body::getVelocity(double tdb) const
{
const TimelinePhase* phase = timeline->findPhase(tdb);
ReferenceFrame* orbitFrame = phase->orbitFrame();
Vector3d v = phase->orbit()->velocityAtTime(tdb);
v = orbitFrame->getOrientation(tdb).conjugate() * v + orbitFrame->getCenter().getVelocity(tdb);
if (!orbitFrame->isInertial())
{
Vector3d r = Selection(const_cast<Body*>(this)).getPosition(tdb).offsetFromKm(orbitFrame->getCenter().getPosition(tdb));
v += orbitFrame->getAngularVelocity(tdb).cross(r);
}
return v;
}
