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SE(3) transformations for SpatialForce and SpatialMomentum are wrong #169
Description
Among SpatialVector subclasses, some multiplication are defined as:
Certain subtypes can be multiplied
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Multiplicands Product
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left right type operation
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SE3, Twist3 SpatialVelocity SpatialVelocity adjoint product
SE3, Twist3 SpatialAcceleration SpatialAcceleration adjoint product
SE3, Twist3 SpatialMomentum SpatialMomentum adjoint transpose product
SE3, Twist3 SpatialForce SpatialForce adjoint transpose product
SpatialAcceleration SpatialInertia SpatialForce matrix-vector product**
SpatialVelocity SpatialInertia SpatialMomentum matrix-vector product**
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For SpatialMomemtum and SpatialForce, the operation should be adjoint transpose invese product because of the duality of motion space and force space. As described in Featherstone's Rigid Body Dynamics Algorithms:
Activity
Fix SpatialForce/SpatialMomentum SE(3) transform to use the coadjoint…