Function affordance_primitives::calculateLinearVelocity
Defined in File screw_motion.hpp
Function Documentation
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Eigen::Vector3d affordance_primitives::calculateLinearVelocity(const Eigen::Vector3d &axis, const Eigen::Vector3d &q_vector, const double pitch)
A helper function that calculates the linear velocity component of a Screw Axis.
- Parameters:
axis – The axis of rotation
q_vector – The vector pointing from the ScrewAxis frame to the axis of rotation
pitch – The pitch of the screw axis
- Returns:
A vector representing the “normalized” (which may not have norm==1) linear velocity of the screw