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warp.spatial_adjoint#

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

  • Kernel

  • Differentiable

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