Add mj_jacDot: Time derivative of kinematic Jacobian.

PiperOrigin-RevId: 670505417 Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:48:44 -07:00
parent fb38727303
commit 2d3d5415b7
12 changed files with 363 additions and 37 deletions
@@ -29,6 +29,7 @@ General
  parent model, but only on the first attachment.
 - Added the :ref:`mjtSameFrame` enum which contains the possible frame alignments of bodies and their children. These
  alignments are used for computation shortcuts in :ref:`mj_kinematics`.
+- Added :ref:`mj_jacDot` for computing time-derivatives of kinematic Jacobians. Fixes :github:issue:`411`.

 MJX
 ^^^