Function Karana::Frame::pframeObservedRelSpAccelUtil

Function Karana::Frame::pframeObservedRelSpAccelUtil#

Function Documentation#

km::SpatialAcceleration Karana::Frame::pframeObservedRelSpAccelUtil(const km::HomTran &T, const km::SpatialVelocity &V, const km::SpatialAcceleration &A)#

Return the pframe observed relative spatial acceleration between the oframe and pframe.

This is the spatial acceleration of the pframe with respect to the oframe, as observed from the pframe, and represented in pframe.

The resulting linear accel, p_a(o,p) is the derivative of p_R_o * o_v(o,p) vector, i.e. the time derivative of the pframe coordinate representation of the o_v(o,p) oframe/pframe translational velocity. 

 p_a(o,p) = p_R_o * [ o_a(o,p) + o_v(o,p) x w(o,p) ]

Note that the returned value is NOT p_a(p,o), which corresponds to f_to_f(pframe, oframe).relSpAccel(). To get p_a(p,o) you need to switch the roles of oframe and pframe and simply call pframe.relSpAccel(oframe).

Parameters:

  • T – the oframe to pframe rel transform.

  • V – the oframe to pframe rel spatial velocity.

  • A – the oframe to pframe rel spatial acceleration.

Returns:

the pframe observed spatial acceleration, i.e. p_to_o_A

Contents