Function pinocchio::PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelFreeFlyerTpl)
Defined in File joint-free-flyer.hpp
Function Documentation
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pinocchio::PINOCCHIO_JOINT_CAST_TYPE_SPECIALIZATION(JointModelFreeFlyerTpl)
Free-flyer joint in
.A free-flyer joint adds seven coordinates to the configuration space. Given a configuration vector
q
:q[idx_q:idx_q + 3]
are the translation coordinates, in meters, representing the position of the child frame in the parent frame.q[idx_q + 3:idx_q + 7]
is a unit quaternion representing the rotation from the child frame to the parent frame, with quaternion coordinates ordered as (x, y, z, w).
Likewise, a free-flyer joint adds six coordinates to the tangent space. Let’s consider a tangent vector
v
, say, a velocity vector. Following Featherstone’s convention, all our tangent vectors are body rather than spatial vectors:v[idx_v:idx_v + 3]
is the linear velocity, in meters / second, corresponding to the linear velocity of the child frame with respect to the parent frame, expressed in the child frame (body linear velocity of the child frame).v[idx_v + 3:idx_v + 6]
is the angular velocity, in radians / second, corresponding to the angular velocity from the child frame to the parent frame, expressed in the child frame (body angular velocity of the child frame).