novaphy.forward_link_velocities¶

Compute per-link spatial velocities from generalized coordinates and velocities.

def forward_link_velocities(
    joints: list[Joint],
    q: np.ndarray,
    qd: np.ndarray,
) -> list[tuple[np.ndarray, np.ndarray]]

Parameters¶

Parameter	Description
`joints`	Per-link joint descriptors.
`q`	Generalized position vector.
`qd`	Generalized velocity vector.

For each link, a (omega_local, v_local) pair giving the spatial angular and linear velocity components in the link frame.