Function Karana::Frame::rigidlyPropagateVelocityTpUtil

Function Karana::Frame::rigidlyPropagateVelocityTpUtil#

Function Documentation#

km::SpatialVelocity Karana::Frame::rigidlyPropagateVelocityTpUtil(const km::HomTran &p_to_t_T, const km::SpatialVelocity &p_o_to_p_V)#

Rigidly transform a oframe observed but pframe represented pframe spatial velocity to a oframe observed but target represented target spatial velocity (i.e. the pframe and target are assumed to be rigidly attached to each other).

Parameters:

  • p_to_t_T – the pframe to target rel transform.

  • p_o_to_p_V – the oframe to pframe rel spatial velocity.

Returns:

the target frame observed and represented spatial velocity of the pframe wrt the oframe

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