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| Class Summary | |
| SpatialInertia | |
| SpatialVector | A spatial vector, which is a 6-vector composed of two 3-vectors: a free vector and a line vector. |
| Twist | A spatial vector that represents a spatial velocity, comprised of a translation velocity v and an angular velocity w. |
| Wrench | A spatial vector that represents a spatial force, comprised of a translation force f and a moment m. |
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