def twist_mul(tw: np.ndarray, rot: np.ndarray, t: np.ndarray, linear: bool = False) -> tuple[np.ndarray, np.ndarray]:
    """
    Multiply twist vector and transformation matrix.

    Args:
        tw (numpy.ndarray): Twist vector.
        rot (numpy.ndarray): Rotation matrix.
        t (numpy.ndarray): Translation vector.
        linear (bool, optional): Linear approximation.
    """
    tr, tt = twist_trans(tw, linear=linear)
    return np.dot(tr, rot), np.dot(t, tr.T) + tt

    Multiply twist vector and transformation matrix.

    Args:
        tw (numpy.ndarray): Twist vector.
        rot (numpy.ndarray): Rotation matrix.
        t (numpy.ndarray): Translation vector.
        linear (bool, optional): Linear approximation.
    
probreg/se3_op.py