how to get second derivative of the Jacobian with respect to the time.

[oridong]

I saw Matrix6x ddJ at docs, however, I does not find which functions shoud be called to get ddJ?

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[jcarpent]

For which application do you need to compute this quantity?

[oridong]

@jcarpent I've implemented an algorithm to compute this quantity and want to verify its correctness against Pinocchio's results. I've confirmed that the dJ calculation is correct