 in
absolute coordinates (=fixed-base coordinates), rather than link coordinates;
and (3) the floating-base functions now use a quaternion, rather than a
spatial coordinate transform, to represent the orientation of the floating
base.
</p>

<h3>Changes to Functions and Data Structures</h3>

<p>
The table below sets out the changes you will have to make in order to port
your code from <b><i>spatial_v1</i></b>
to <b><i>spatial_v2</i></b>.&nbsp; <strong>Note:</strong>&nbsp; where a
function is marked as 'no ch