Function arcos_kdl::geometry::diff

pub fn diff(end: Frame, init: Frame, dt: f64) -> Twist

Differentiate a homogeneous transformation for derivating poses

Given an inittial pose P, a final pose F, and a delta time dt The resulting twist r is given by:

r = (P-F)/dt

(Note that the above formula is not the real algorithm but a simplification for understanding this function)