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): [w; v] A spatial force vector (wrench): [tau; f]

This module re-exports tang’s block-structured spatial types with f64 specialization.

Traits

SpatialTransformExt

Direction-carrying frame conversions for SpatialTransform.

Type Aliases

SpatialInertia

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

SpatialMat

6x6 spatial matrix stored as four 3x3 blocks.

SpatialTransform

Plucker transform: rigid body transformation acting on spatial vectors.

SpatialVec

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