warp.spatial_adjoint#

warp.spatial_adjoint(
r: Matrix[Literal[3], Literal[3], Float],
s: Matrix[Literal[3], Literal[3], Float],
) → Matrix[Literal[6], Literal[6], Float]#

  • Kernel

  • Differentiable

Construct a 6x6 spatial inertial matrix from two 3x3 diagonal blocks.