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Transform a wrench between coordinate frames
wt = wtrans(T, w) is a wrench (6x1) in the frame represented by the homogeneous transform T (4x4) corresponding to the world frame wrench w (6x1).
The wrenches w and wt are 6-vectors of the form [Fx Fy Fz Mx My Mz].
© 1990-2012 Peter Corke.