missile_simulation

gazebosim/gazebo-classic#354 clarification for the AddForce function's familly

  /// \brief Apply a force at the link's CoG for one time step.
  /// \param[in] _force Force expressed in the world frame.
  public: virtual void AddForce(const math::Vector3 &_force) = 0;

  /// \brief Apply a force at the link's CoG for one time step.
  /// \param[in] _force Force expressed in the link's frame (not its
  /// inertial frame).
  public: virtual void AddRelativeForce(const math::Vector3 &_force) = 0;

  /// \brief Apply a force at a given position for one time step.
  /// \param[in] _force Force expressed in the world frame.
  /// \param[in] _pos Position expressed in the world frame.
  public: virtual void AddForceAtWorldPosition(const math::Vector3 &_force,
              const math::Vector3 &_pos) = 0;

  /// \brief Apply a force at a given position for one time step.
  /// Note that force and position are expressed in different frames.
  /// \param[in] _force Force expressed in the world frame.
  /// \param[in] _pos Position expressed in the link's frame (not its
  /// inertial frame).
  public: virtual void AddForceAtRelativePosition(
              const math::Vector3 &_force,
              const math::Vector3 &_relPos) = 0;