toChassis

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

Transforms the linear acceleration from the global field frame to the robot's local 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