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In this page of the documentation at some point it is written that:

This class supports three possible convention to express the floating base information : the inertial, the body-fixed and the mixed convention. To get more info on this three conventions, check section II.C of On the Base Frame Choice in Free-Floating Mechanical Systems and its Connection to Centroidal Dynamics https://traversaro.github.io/preprints/changebase.pdf

Unfortunately, the link seems to be broken.

For reference, the linked document was https://www.researchgate.net/profile/Daniele_Pucci/publication/312200239_A_Unified_View_of_the_Equations_of_Motion_used_for_Control_Design_of_Humanoid_Robots/links/5878dd9708aed3826ae1d3a3/A-Unified-View-of-the-Equations-of-Motion-used-for-Control-Design-of-Humanoid-Robots.pdf , but probably you can find more on this in Chapter 3 of my PhD thesis: https://traversaro.github.io/phd-thesis/traversaro-phd-thesis.pdf .

Another useful document on notation may be https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2 .