toPose

Converts this chassis acceleration (local frame) to a pose acceleration (global frame).

Transforms the linear acceleration from the robot's local frame to the global field frame using the robot's current heading. Angular acceleration remains unchanged as it's frame-invariant.

Note: This is a simplified transformation that doesn't account for centripetal effects from the robot's rotation. For accurate transformations when the robot is rotating, you need to include centripetal acceleration terms.

Parameters

See also