orocos-kdl汉语注释之Geometric primitives(Twist+Wrench)

orocos-kdl中文注释之Geometric primitives(Twist+Wrench)

Twist是代表速度和角速度的6x1矩阵，Wrench是代表力和力矩的6x1矩阵，两者可相互转化

KDL::Twist

link to API documentation

A Twist is the 6x1 matrix that represents the velocity of a Frame using a 3D translational velocity Vector?vel?and a 3D angular velocity Vector?rot:

<equation id="twist"><equation>

Creating Twists

<equation>
Creating Wrenches
t = diff(F_w_A,F_w_B,timestep)//differentiationF_w_B = F_w_A.addDelta(t,timestep)//integration
t is the twist that moves frame A to frame B in?timestep?seconds. t is expressed in reference frame w using the origin of A as velocity reference point.
参考坐标系和参考点