From 9d1b44fd82c2f1fd086eb1406a8949fc34feb7d6 Mon Sep 17 00:00:00 2001 From: Joao Neto Date: Thu, 20 Oct 2016 14:39:12 -0300 Subject: [PATCH 1/2] Make explicit that body fixed frame is the sourceFrame As the frames are formally described as sourceFrame and targetFrame, make it clear that the angular velocity is represented in sourceFrame. Let an indication that it is the "body" frame, as in the RigidBodyState documentation --- src/samples/RigidBodyState.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/samples/RigidBodyState.hpp b/src/samples/RigidBodyState.hpp index cef8edae..495ac7ef 100644 --- a/src/samples/RigidBodyState.hpp +++ b/src/samples/RigidBodyState.hpp @@ -61,7 +61,7 @@ namespace base { namespace samples { */ base::Matrix3d cov_velocity; - /** Angular Velocity as an axis-angle representation in body fixed frame + /** Angular Velocity as an axis-angle representation in sourceFrame (body fixed frame) * * The direction of the vector is the axis, its length the speed */ base::Vector3d angular_velocity; From fbfbbed1ed18eebc9110cd5c9f5aaf383eaacb2c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jo=C3=A3o=20Britto?= Date: Thu, 20 Dec 2018 16:05:10 -0300 Subject: [PATCH 2/2] Improve rbs's velocities documentation --- src/samples/RigidBodyState.hpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/samples/RigidBodyState.hpp b/src/samples/RigidBodyState.hpp index 495ac7ef..439c2815 100644 --- a/src/samples/RigidBodyState.hpp +++ b/src/samples/RigidBodyState.hpp @@ -55,13 +55,15 @@ namespace base { namespace samples { */ base::Matrix3d cov_orientation; - /** Velocity in m/s of sourceFrame expressed in targetFrame */ + /** Velocity in m/s of sourceFrame relative to targetFrame, + * expressed in targetFrame */ base::Vector3d velocity; /** Covariance of the velocity */ base::Matrix3d cov_velocity; - /** Angular Velocity as an axis-angle representation in sourceFrame (body fixed frame) + /** Angular Velocity of sourceFrame relative to targetFrame, + * expressed in sourceFrame, as an axis-angle representation * * The direction of the vector is the axis, its length the speed */ base::Vector3d angular_velocity;