Adds M-frame methods for curvilinear mobilizer. #22514
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sherm1
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priority: medium
release notes: none
sherm1
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Jan 23, 2025
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+@amcastro-tri for feature review, please
@mshalm please feel free to comment also
You may want to start with the comment in mobilizer_impl.h to see the definition of the functions that have to be added.
Reviewable status: LGTM missing from assignee amcastro-tri, needs platform reviewer assigned, needs at least two assigned reviewers
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This is a yak shave for the upcoming M-frame inverse dynamics PR (see #22253).
The new Curvilinear mobilizer (and its underlying PiecewiseConstantCurvatureTrajectory) provide velocity, acceleration, and force projection in the "fixed" frame rather than the moving M frame. Additional methods required for M frame support are added here. Incidentally, everything is much nicer in M for this mobilizer.
There was a terminology conflict between the trajectory which used frames A (fixed) and F (moving) and the mobilizer -- all mobilizers use frames F (fixed) and M (moving). I renamed the moving frame in the trajectory to M to avoid the inevitable disaster of using "F" for opposite meanings!
All code here is internal so there is no release note needed.
cc @mshalm
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