newton.math.transform_twist

newton.math.transform_twist(t, x)

Transform a spatial twist between coordinate frames.

This applies Warp’s twist transform while preserving Newton’s spatial layout. Newton stores twists as \(x = (v, \omega)\) (linear, angular), while Warp’s low-level helper expects \((\omega, v)\).

For rigid transform \(t = (R, p)\) from source to destination:

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

Parameters:

• t (transformf) – Rigid transform from source frame to destination frame.

• x (spatial_vectorf) – Spatial twist in Newton layout (linear, angular).

Returns:

Transformed twist in Newton layout (linear, angular).

Return type:

wp.spatial_vector