Hi,
I'd like to know if Link::GetWorldLinearAccel() takes in account the inertial force as Link::GetWorldAngularAccel() [does](https://bitbucket.org/osrf/gazebo/commits/c99082dfee89d44ba463597e1d1c3cd17a61b69a)?
It seems to me that it's missing the inertial force in Link::GetWorldLinearAccel(), as described [here](http://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-manipdyn_v1_2.pdf), in eq 4.16.
It means: return m^-1 * (F - w x m*v) = F/m - w x v.
If the above is right, my second question:
How does the physical engine knows the acceleration for integration in the update step?
The Link::GetWorldLinear/AngularAccel() should be the ones used in integral for providing the WorldLinear/AngularVel, right?
↧