def dAdjoint(Ad, T):
""" Return the derivative of an Adjoint with respect to time.
:param Ad: the Adjoint matrix one wants the derivative.
:type Ad: (6,6)-array
:param T: the corresponding twist
:type T: (6,)-array
:return: the derivative of the adjoint matrix
:rtype: (6,6)-array
**Definition from arboris-matlab:**
if H is defined as follow:
.. math::
x{a} = H * x{b}
Ad = adjoint( H )
T = velocity of {b} relative to {a} expressed in {b}
"""
return dot(Ad, adjacency(T))
def iadjacency(self):
return T.adjacency(self.itwist)
def adjacency(self):
return T.adjacency(self.twist)
def iadjacency(self):
return T.adjacency(self.itwist)
def adjacency(self):
return T.adjacency(self.twist)