There are a few notational differences between the dynamics chapter in the Springer Handbook of Robotics and spatial_v2, which are summarised in the table below.
|S(u)||skew(u)||(u: 3D vector)|
|S(m1) m2||crm(m1) * m2||(cross product of two motion vectors)|
|−S(m)T f||crf(m) * f||(cross product of motion and force vector)|
|Φ||S||(joint motion subspace)|
|xjcalc, pcalc||jcalc||(joint data calculation functions)|