Should this body velocity also consider angular velocity when doing linear velocity coordinate transformation?

https://github.com/borglab/gtsam/blob/b1e91671fdf366c3d714c68f29df04db12b889f1/gtsam/navigation/NavState.cpp#L71

See reference: https://physics.stackexchange.com/questions/197009/transform-velocities-from-one-frame-to-an-other-within-a-rigid-body