Question about the JntToCoriolis function

[SwonGao]

Hi,
JntToCoriolis calculates the force: C(q, q_dot)

I want to ask if I can calculate the matrix "C * q_dot_desired"; here, C means the Coriolis and centrifugal matrix.

Now, I am using:
Jnt_Desired_Vel_State.data = J_.data.inverse() * (Cart_ee_Ref_Twist);
id_solver_->JntToCoriolis(Jnt_Pos_State, Jnt_Desired_Vel_State, C_);
I wonder if that is correct. Can you help me with it?

Thank you!