Y = adjoint(T);
Y = adjoint(W,V);
Returns the adjoint matrix [6,6] of a twist or wrench vector T [6,1]:
or returns the adjoint matrix [6,6] of an angular velocity vector W [3,1] and a velocity vector V [3,1]:
The adjoint function is useful for dynamics described by twists and wrenches.
W = [w1 ; w2 ; w3];
V = [v1 ; v2 ; v3];
Y = adjoint(W,V);
Y must be of size [6,6], W must always be of size[3,1] , V must have the size [3,1] and T must have size [6,1].