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Add methods for joint Jacobian time variation, base acceleration and base Jacobian#11

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Add methods for joint Jacobian time variation, base acceleration and base Jacobian#11
my-rice wants to merge 2 commits into
mainfrom
wbc

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@my-rice

@my-rice my-rice commented Mar 30, 2026

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This PR introduces three new functions:

  • getJointJacobianTimeVariation
  • getBaseAcceleration
  • computeBaseJacobian

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