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Make explicit that body fixed frame is the sourceFrame #100

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merged 2 commits into from
Dec 20, 2018
Merged

Make explicit that body fixed frame is the sourceFrame #100

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9d1b44f
Make explicit that body fixed frame is the sourceFrame
joaobrittoneto Oct 20, 2016
fbfbbed
Improve rbs's velocities documentation
joaobrittoneto Dec 20, 2018
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6 changes: 4 additions & 2 deletions src/samples/RigidBodyState.hpp
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Expand Up @@ -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 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;
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