Function Karana::Frame::propagateVelocityOopUtil

Function Karana::Frame::propagateVelocityOopUtil#

Function Documentation#

km::SpatialVelocity Karana::Frame::propagateVelocityOopUtil(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, const km::HomTran &o_to_t_T)#

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

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

The expression is covered in Eq. 1.48 in Exercise 1.8 (Evaluating spatial velocities.)

V(A, C) = phistar(B, C) * V(A, B) + V(B, C)

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.

  • o_to_t_T – the oframe to target rel transform.

Returns:

The oframe observed and represented spatial velocity of the target wrt oframe

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