public void computeQDDot(QuaternionReadOnly q, Vector3DReadOnly angularVelocity, Vector3DReadOnly angularAcceleration, Vector4DBasics qDDotToPack) { computeQDot(q, angularVelocity, intermediateQDot); computeQDDot(q, intermediateQDot, angularVelocity, angularAcceleration, qDDotToPack); }
public void computeQDDot(QuaternionReadOnly q, Vector4DReadOnly qDot, Vector3DReadOnly angularAcceleration, Vector4DBasics qDDotToPack) { computeAngularVelocityInWorldFrame(q, qDot, intermediateAngularVelocity); computeQDDot(q, qDot, intermediateAngularVelocity, angularAcceleration, qDDotToPack); }
public void computeQDDot(Quat4d q, Quat4d qDot, Vector3d angularAcceleration, Quat4d qDDotToPack) { computeAngularVelocityInWorldFrame(q, qDot, intermediateAngularVelocity); computeQDDot(q, qDot, intermediateAngularVelocity, angularAcceleration, qDDotToPack); }
public void computeQDDot(Quat4d q, Vector3d angularVelocity, Vector3d angularAcceleration, Quat4d qDDotToPack) { computeQDot(q, angularVelocity, intermediateQDot); computeQDDot(q, intermediateQDot, angularVelocity, angularAcceleration, qDDotToPack); }
quaternionCalculus.computeQDDot(q, qDot, expectedAngularAcceleration, qDDot); quaternionCalculus.computeAngularAcceleration(q, qDot, qDDot, actualAngularAcceleration); assertTrue(expectedAngularAcceleration.epsilonEquals(actualAngularAcceleration, EPSILON)); quaternionCalculus.computeQDDot(q, angularVelocity, actualAngularAcceleration, qDDot); quaternionCalculus.computeAngularAcceleration(q, qDot, qDDot, actualAngularAcceleration); assertTrue(expectedAngularAcceleration.epsilonEquals(actualAngularAcceleration, EPSILON)); quaternionCalculus.computeQDDot(q, qDot, angularVelocity, actualAngularAcceleration, qDDot); quaternionCalculus.computeAngularAcceleration(q, qDot, qDDot, actualAngularAcceleration); assertTrue(expectedAngularAcceleration.epsilonEquals(actualAngularAcceleration, EPSILON)); quaternionCalculus.computeQDDot(q, qDot, expectedAngularAcceleration, qDDot); quaternionCalculus.computeAngularAcceleration(q, qDDot, angularVelocity, actualAngularAcceleration); assertTrue(expectedAngularAcceleration.epsilonEquals(actualAngularAcceleration, EPSILON));