Use of actInv() in frameClassicAcceleration of TSID #2226
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Hello.
![image](https://private-user-images.githubusercontent.com/55594017/325522772-44649def-45dd-458c-8866-745359ec9699.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTg0OTczMjIsIm5iZiI6MTcxODQ5NzAyMiwicGF0aCI6Ii81NTU5NDAxNy8zMjU1MjI3NzItNDQ2NDlkZWYtNDVkZC00NThjLTg4NjYtNzQ1MzU5ZWM5Njk5LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA2MTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNjE2VDAwMTcwMlomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWFhMDE3MDJjNzZkZTI1ZGJiYTI1MGJmYTY4Mzg4Y2JhYmMzZDY1NWYxYWNmMDg3ZGRkOGM3NmIzZTc0OGMyNGUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.-hXSS4vAWGvexrVQztTzaeTO5oBAyjZ4r07fxcj1fpk)
In the tsid robotwrapper.cpp, function RobotWrapper::frameClassicAcceleration() which is used to calculate the classic accleration of a frame:
In row 301 and 302, a and v are spatial acc and spatial vel of the frame f, but why they use placement.actInv(data.v[f.parent])(data.v[f.parent] is the vel of the parent joint ) instead of placement.act(). Isn't the frameXJoint.act() used to transform the vector from Joint coordinate to the frame coordinate?
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