Module spatial 

6D spatial algebra following Featherstone’s “Rigid Body Dynamics Algorithms”.

Convention: spatial vectors are [angular; linear] (Featherstone order). A spatial motion vector (twist): [ω; v] A spatial force vector (wrench): [τ; f]

Structs

SpatialInertia

Spatial inertia of a rigid body about its center of mass.

SpatialMat

6x6 spatial matrix (inertia, transforms acting on spatial vectors).

SpatialTransform

Plücker transform: rigid body transformation acting on spatial vectors.

SpatialVec

6D spatial vector — either a motion vector (twist) or force vector (wrench).