pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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If

Change the expression of a given Force vector from one reference frame to another reference frame.

Change the expression of a given Force vector from one reference frame to another reference frame. 

  ones has an initial f_in Force expressed locally (rf_in=LOCAL) in a Frame localized at a given placement value,   ones may want to retrieve its value inside another reference frame e.g. the world (rf_out=WORLD).

Parameters
[in]placementPlacement of the frame having force f_in
[in]f_inInput force quantity.
[in]rf_inReference frame in which m_in is expressed
[in]rf_outReference frame in which the result m_out is expressed
[out]f_outResulting force quantity.