10 lines
280 B
Mathematica
10 lines
280 B
Mathematica
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function Vlinear = BodyVelToLinearVel(V,G)
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% *** CHAPTER x: DYNAMICS OF OPEN CHAINS ***
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% Takes V: Body frame velocity,
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% G: Space frame G
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% Returns Glist: Spatial inertia matrices Gi of the links
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[R, p] = TransToRp(G);
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Vlienar = se3ToVec(V)*[p;1];
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Vlienar = Vlienar(1:3);
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