http://bugs.orocos.org/show_bug.cgi?id=968

Summary: Joint::twist uses only q_dot to compute twist
Product: KDL
Version: unspecified
Platform: All
OS/Version: All
Status: NEW
Severity: enhancement
Priority: P3
Component: Kinematic chains
AssignedTo: orocos-dev [..] ...
ReportedBy: gianni [dot] borghesan [..] ...
CC: orocos-dev [..] ...
Estimated Hours: 0.0

It should be more correct to have both q and q dot
it would allow for more joint types (see Bug 967)