Function Karana::Frame::propagateAccelOopUtil

Function Karana::Frame::propagateAccelOopUtil#

Function Documentation#

km::SpatialAcceleration Karana::Frame::propagateAccelOopUtil(const km::HomTran &o_to_p_T, const km::SpatialVelocity &o_to_p_V, const km::SpatialAcceleration &o_to_p_A, const km::HomTran &p_to_t_T, const km::SpatialVelocity &p_to_t_V, const km::SpatialAcceleration &p_to_t_A, const km::HomTran &o_to_t_T)#

Utility function to propgagate the spatial acceleration from a oframe/pframe pair to a target frame.

This method combines the relSpAccel values of 2 connected segments A/B and B/C to derive the overall A/C relSpAccel value. The resulting derivatives are in the oframe, and the result is expressed in the oframe.

The expression is covered in Eq 1.74 in Exercise 1.15 (Evaluating spatial accelerations.). This includes the expression for the Coriolis term. The coriolisAccel_oop() method is used to compute the Coriolis acceleration for this case.

\[ \alpha(A, C) = phistar(B, C) * \alpha(A, B) + \alpha(B, C) + \text{Coriolis accel} \]

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.

  • o_to_p_A – the oframe to pframe rel spatial acceleration.

  • p_to_t_T – the pframe to target rel transform.

  • p_to_t_V – the pframe to target rel spatial velocity.

  • p_to_t_A – the pframe to target rel spatial acceleration.

  • o_to_t_T – the oframe to target rel transform.

Returns:

the oframe observed and represented spatial acceleration of the target wrt the oframe

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