Compute derivatives of Coriolis term w.r.t. generalized positions and velocities

[jslee02]

The Coriolis term can be represented as $C(q, \dot{q}) \dot{q}$. The derivatives of the Coriolis term w.r.t. generalized positions and velocities would be useful in some cases.

\partial{C(q, \dot{q}) \dot{q}} / \partial{q}
\partial{C(q, \dot{q}) \dot{q}} / \partial{\dot{q}}

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