Function Karana::Frame::coriolisAccelOopUtil

Function Karana::Frame::coriolisAccelOopUtil#

Function Documentation#

km::SpatialAcceleration Karana::Frame::coriolisAccelOopUtil(const km::HomTran &o_to_p_T, const km::SpatialVelocity &o_to_p_V, const km::HomTran &p_to_t_T, const km::SpatialVelocity &p_to_t_V)#

Utility function to compute the ‘oop’ version of the Coriolis acceleration as defined above.

The result is expressed in oframe. The expression is from Exercise 1.14 (Spatial acceleration transformations), Eq 1.69. The returned value is in the ‘o’ from frame. 

     a_oop =    |             w(o,p) x w(p,t)          |
                |                                      |
                |  w(o,p) x [v(o, t) - v(o,p) + v(p,t] |

While not strictly necessary, we are passing the additional f_to_f arguments to avoid the costs of frame to frame lookups.

Parameters:

  • o_to_p_T – the oframe to pframe rel transform.

  • o_to_p_V – the oframe to pframe rel spatial velocity.

  • p_to_t_T – the pframe to target rel transform.

  • p_to_t_V – the pframe to target rel spatial velocity.

Returns:

the ‘oop’ Coriolis spatial acceleration vector

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