Switch coordinate frame of angular velocity and inertia
Posted: Sat Jul 21, 2012 7:39 pm
Let's say we have the angular velocity of a rigid body in its local coordinate frame in the form of (Rx, Ry, Rz) how to map it to a different coordinate frame (the world CF or another CF on a different location of the object? I assume you cannot simply multiply the transform matrix of the CF.
Similar question for inertia tensor 3x3 matrix for 3D rigid body: how to map it from the local CF to a different CF?
My actual use case is to map angular velocity and moment of inertia from the object space to the joint space that is anchored at an offset from the COM of the object.
Thanks!
Similar question for inertia tensor 3x3 matrix for 3D rigid body: how to map it from the local CF to a different CF?
My actual use case is to map angular velocity and moment of inertia from the object space to the joint space that is anchored at an offset from the COM of the object.
Thanks!