Function Karana::Frame::pframeObservedRelSpVelUtil

Function Karana::Frame::pframeObservedRelSpVelUtil#

Function Documentation#

km::SpatialVelocity Karana::Frame::pframeObservedRelSpVelUtil(const km::HomTran &o_to_p_T, const km::SpatialVelocity &o_to_p_V)#

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

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

The resulting linear velocity, p_v(o,p) is the derivative of p_l(o,p) = p_R_o * o_l(o,p) vector, i.e. the time derivative of the pframe coordinate representation of the oframe/pframe translational vector. Thus 

 p_v(o,p) = p_R_o * [ o_v(o,p) + o_l(o,p) x w(o,p) ]

Note that the returned value is NOT p_v(p,o) that corresponds to f_to_f(pframe, oframe).relSpVel() where the roles of oframe and pframe are switched, and the value would be the velocity of oframe with respect to pframe.

Parameters:

  • o_to_p_T – the oframe to pframe rel transform.

  • o_to_p_V – the oframe to pframe rel spatial velocity.

Returns:

the pframe observed spatial velocity, i.e. p_to_o_V

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