Spatial vs Classical Velocity in Centroidal Momentum Computation

[matheecs]

Assuming a floating-base Articulation model, we can obtain the centroidal momentum matrix A using computeCentroidalMomentumMatrix.

To compute the centroidal momentum h = A * v, we need to construct the velocity vector v, where the first 6 components represent the root body's velocity.

My question is:
When computing h = A * v, should the root body's velocity be expressed as spatial velocity or classical velocity?