ALICEYZ5

@jcarpent I have two questions regarding time derivatives of Jacobian: 1). In your code posted above, Jdot_c is expressed in LOCAL frame right? How do I get Jdot_c in LOCAL_WORLD_ALIGNED...

The code I am using is based on the code you provided. To save your time, I understand getFrameJacobianTimeVariation returns the time derivative with respect to the spatial acceleration. My...

YES, JacobianTimeVariation with respect to the classic acceleration expressed in LOCAL_WORLD_ALIGN

@jcarpent any updates?