warp.transform_twist

warp.transform_twist(

t: transformf,

x: spatial_vectorf,

) → spatial_vectorf

Kernel

Differentiable

Transform a spatial twist between coordinate frames.

For transform t = (R, p) and twist x = (w, v), the mapped twist is:

\[w' = R w,\quad v' = R v + p \times w'\]

Parameters:

• t – Rigid transform from source frame to destination frame.

• x – Spatial twist (angular, linear) expressed in the source frame.

Returns:

Twist expressed in the destination frame.

Return type:

wp.spatial_vector