Rotation Matrix notaion
Posted: Sat Oct 14, 2023 2:57 am
Hi,
I've been studying the notation used in Simbody, and I've encountered confusion regarding the transform notation. X_BG is "the transform from frame B to frame G."
Vec3 v_B = ~X_GB.R()*v_G;
Vec3 v_B = X_BG*v_G ;
It seems to suggest that X_BG is a transform from frame B to frame G. Yet, in the calculation, it appears to transform from frame G to frame B.
Could you please provide clarity on this notation and its application? I'm trying to understand the underlying logic and consistency in the notation.
Thank you for your time and assistance.
I've been studying the notation used in Simbody, and I've encountered confusion regarding the transform notation. X_BG is "the transform from frame B to frame G."
Vec3 v_B = ~X_GB.R()*v_G;
Vec3 v_B = X_BG*v_G ;
It seems to suggest that X_BG is a transform from frame B to frame G. Yet, in the calculation, it appears to transform from frame G to frame B.
Could you please provide clarity on this notation and its application? I'm trying to understand the underlying logic and consistency in the notation.
Thank you for your time and assistance.