convert_time_derivative.h File Reference

#include <Eigen/Dense>
#include "drake/common/eigen_types.h"

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Namespaces
namespace	drake
namespace	drake::math

Functions
template<typename v_Type, typename DtB_v_Type, typename w_AB_Type>
Vector3< typename v_Type::Scalar >	ConvertTimeDerivativeToOtherFrame (const Eigen::MatrixBase< v_Type > &v_E, const Eigen::MatrixBase< DtB_v_Type > &DtB_v_E, const Eigen::MatrixBase< w_AB_Type > &w_AB_E)
	Given ᴮd/dt(v) (the time derivative in frame B of an arbitrary 3D vector v) and given ᴬωᴮ (frame B's angular velocity in another frame A), this method computes ᴬd/dt(v) (the time derivative in frame A of v) by: ᴬd/dt(v) = ᴮd/dt(v) + ᴬωᴮ x v.