SpatialMotionVector SpatialMotionVector::cross(const SpatialMotionVector& other) const
{
    SpatialMotionVector res;

    res.getLinearVec3()  = this->angularVec3.cross(other.getLinearVec3()) + this->linearVec3.cross(other.getAngularVec3());
    res.getAngularVec3() =                                                  this->angularVec3.cross(other.getAngularVec3());

    return res;
}
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SpatialMotionVector PositionRaw::changePointOf(const SpatialMotionVector & other) const
{
    SpatialMotionVector result;

    Eigen::Map<const Eigen::Vector3d> thisPos(this->data());
    Eigen::Map<const Eigen::Vector3d> otherLinear(other.getLinearVec3().data());
    Eigen::Map<const Eigen::Vector3d> otherAngular(other.getAngularVec3().data());
    Eigen::Map<Eigen::Vector3d> resLinear(result.getLinearVec3().data());
    Eigen::Map<Eigen::Vector3d> resAngular(result.getAngularVec3().data());

    resLinear  = otherLinear + thisPos.cross(otherAngular);
    resAngular = otherAngular;

    return result;
}
void checkInertiaAccProduct(const ArticulatedBodyInertia & inertia, const SpatialMotionVector & twist)
{
    SpatialForceVector momentum = inertia*twist;
    Vector6         momentumCheck;

    Matrix6x6 I = inertia.asMatrix();

    Vector6 twistPlain = twist.asVector();
    toEigen(momentumCheck) = toEigen(I)*toEigen(twistPlain);

    ASSERT_EQUAL_VECTOR(momentum.asVector(),momentumCheck);
}
SpatialMotionVector TransformDerivative::transform(const Transform& transform,
                                                   SpatialMotionVector& other)
{
    SpatialMotionVector ret;

    Eigen::Map<const Eigen::Vector3d> p(transform.getPosition().data());
    Eigen::Map<const Eigen::Matrix<double,3,3,Eigen::RowMajor> > R(transform.getRotation().data());
    Eigen::Map<const Eigen::Vector3d> dp(this->posDerivative.data());
    Eigen::Map<const Eigen::Matrix<double,3,3,Eigen::RowMajor> > dR(this->rotDerivative.data());

    toEigen(ret.getAngularVec3()) = dR*toEigen(other.getAngularVec3());
    toEigen(ret.getLinearVec3())  = dR*toEigen(other.getLinearVec3())
                                   + p.cross(toEigen(ret.getAngularVec3()))
                                   + dp.cross(R*toEigen(other.getAngularVec3()));


    return ret;
}