warp.transform\_twist
=====================

.. function:: warp._src.lang.transform_twist(t: transformf, x: spatial_vectorf) -> spatial_vectorf

   .. hlist::
      :columns: 8

      * Kernel
      * Differentiable

   Transform a spatial twist between coordinate frames.
   
   For transform ``t = (R, p)`` and twist ``x = (w, v)``, the mapped twist is:
   
   .. math::
      w' = R w,\quad v' = R v + p \times w'
   
   :param t: Rigid transform from source frame to destination frame.
   :param x: Spatial twist ``(angular, linear)`` expressed in the source frame.
   
   :returns: Twist expressed in the destination frame.
   :rtype: wp.spatial_vector