express the accelerations in the body frame #16
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
@alexfneves hopefully the last PR on the subject |
This is really what makes the most sense from a sensing perspective. Sensors (gyros, accelerometers) and models (hydrodynamic models) give access to velocities and accelerations w.r.t. the inertial frame, but expressed in the body frame. However, expressing the velocities/accelerations in the world frame from these sensing/estimation methods would require to have an estimate of the system's pose in the world, which is a harder thing to get
doudou
force-pushed
the
express_accelerations_in_the_body_frame
branch
from
aead319 to
380817a
Compare
|
The linear acceleration is now written on the body frame when a link is exported |
Yes. Which is the (now) expected behavior per the PR message and rock-core/base-types#124 |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This is really what makes the most sense from a sensing perspective.
Sensors (gyros, accelerometers) and models (hydrodynamic models)
give access to velocities and accelerations w.r.t. the inertial
frame, but expressed in the body frame.
However, expressing the velocities/accelerations in the world frame
from these sensing/estimation methods would require to have an estimate
of the system's pose in the world, which is a harder thing to get