static Vector6 getVector(const Force & self) { return self.toVector(); }
JointForce operator* (const Force& f) const { return ref.S.transpose()*f.toVector(); }
static Vector6 getVector(const Force & self) { return self.toVector(); }
JointForce operator* (const Force& f) const { return ref.S.transpose()*f.toVector(); }