Kindr
Kinematics and Dynamics for Robotics
Time Derivatives of Poses

This library defines an interface for the time derivative of a pose (position and orientation) of a rigid body or a (displacement) frame to enable different representations of a time derivative of a pose (twist, etc.).

Generic Interface

The class kindr::PoseDiffBase serves as an interface for the time derivative of a pose of a rigid body, i.e. the position and orientation of a rigid body. All types of representations of time derivatives of a pose, such as twist motions, are derived from this base class.

Parameterizations

Twist

The class kindr::Twist implements a 6d twist:

$\boxed{\mathbf{\phi} = \begin{pmatrix} {}_B\mathbf{v}_B \\ {}_B\mathbf{\omega}_{I\!B}\end{pmatrix}}$

where ${}_B\mathbf{v}_B$ is the linear velocity in body-fixed frame and ${}_B\mathbf{\omega}_{I\!B}$ is the local angular velocity.