search

rock-core / base-types

C/C++ and Ruby definition of the base types in Rock
6 stars 40 forks source link

clarify RigidBodyAcceleration's usage #124

Closed doudou closed 5 years ago

doudou commented 5 years ago

I'm trying to not repeat the fiasco of the convention for velocities in RBS (see #99 and #100).

The original documentation stated that the frame of reference should be the world frame, but within the discussion about RBS, people started (rightly) pointing out reasons why the body frame would make more sense.

So, change the documentation of the type to match this idea. RBA is not widely used, and is relatively new (when compared to RBS), so I hope this change will be accepted.

saarnold commented 5 years ago

:+1:

doudou commented 5 years ago

Two acks ... I'm merging this RIGHT NOW ;-)