If
is allowed to vary over time, then we must consider angular acceleration. In the 2D case, this is defined as
![$\displaystyle \alpha = { d\omega(t) \over dt } .$](img737.gif) |
(8.16) |
For the 3D case, there are three components, which results in
![$\displaystyle (\alpha_x,\alpha_y,\alpha_z) .$](img738.gif) |
(8.17) |
These can be interpreted as accelerations of pitch, yaw, and roll angles, respectively.
Steven M LaValle
2020-11-11