// SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
// SPDX-License-Identifier: BSD-3-Clause

#ifndef IDYNTREE_DYNAMICS_UTILS_H
#define IDYNTREE_DYNAMICS_UTILS_H

#include <iDynTree/SpatialForceVector.h>
#include <iDynTree/SpatialInertia.h>
#include <iDynTree/SpatialMotionVector.h>

namespace iDynTree
{
/**
 * Given a rigid body inertia \f$M\f$ and spatial motion vector \f$V\f$,
 * the bias wrench \f$B\f$ of rigid body is defined as:
 * \f[
 *   B =  \times
 * \f]
 *
 */
biasWrenchVelocityDerivative(SpatialInertia M, SpatialMotionVector V);
} // namespace iDynTree

#endif /* IDYNTREE_DYNAMICS_UTILS_H */
