computeB method

  1. @override
double computeB(
  1. double h
)
override

Computes the right hand side of the SPOOK equation

Implementation

@override
double computeB(double h){
  final b = this.b;
  final axisA = this.axisA;
  final axisB = this.axisB;
  final ga = jacobianElementA;
  final gb = jacobianElementB;

  ga.rotational.setFrom(axisA);
  gb.rotational..setFrom(axisB)..negate();

  final gw = computeGW() - targetVelocity;
  final giMf = computeGiMf();

  final B = -gw * b - h * giMf;

  return B;
}