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intelligent-systems-lab-org / SimuNEX

A high-fidelity dynamic simulation framework.
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Rework CoordinateFrame System #20

Closed leebissessar5 closed 1 year ago

leebissessar5 commented 1 year ago

See 395919d.

A major change to the way forces is applied is necessary because of this issue.

One way I'm thinking of is have a Vector6DOF store a CoordinateFrame object which indicates its frame of reference. Then provide two methods to convert between frames and given a Vector6DOF is already in a specific CoordinateFrame, then do not apply.

leebissessar5 commented 1 year ago

Appears to be fixed but will require further testing. Vector6DOF now has conversions to ICF and BCF as a workaround.