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)