Recent content by alextex

Sorry, I've found - we really need to do all in the same coordinate system. But now, I have some other question - probably, more interesting. The torque acting on the rigid body (expressed in the body-fixed frame) is given by: t = -0.5*S(q)*(dU/dq), gde U - potential, q - is a quaternion, ans...

Hi! I have been working on a rigid body subject quite a long. But till now there is an unresolved question for me. When we calculating the torque acting on the rigid body we use the following definition of the torque: t = r X f, X - is a cross product. So if I calculate the torque in a...