Introduce IJointCoupling::evaluateCoupledJointsJacobian()

[PasMarra]

This PR introduces IJointCoupling::evaluateCoupledJointsJacobian(), whose implementation should calculates the Jacobian mapping the Actuated Axes to Physical Joints velocity

[update-docs]

Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update the release notes by adding a file in doc/release/<target_branch>, based on your changes.

[CLAassistant]

All committers have signed the CLA.

[traversaro]

Thanks for the contribution. Could it make sense to:

• Document mathematically what this function returns? You can take an inspiration from the existing documentation on how to do that, from what understand we already define the same quantity in the other methods.
• Use a name more compatible with existing nomenclature, so something like evaluateJacobianFromActuatedAxesToPhysicalJointsVel ? In this way we can be ready if necessary to introduce other methods in the future (for example evaluateJacobianFromPhysicalJointsToActuatedAxeseVel).

[Nicogene]

Use a name more compatible with existing nomenclature, so something like evaluateJacobianFromActuatedAxesToPhysicalJointsVel ? In this way we can be ready if necessary to introduce other methods in the future (for example evaluateJacobianFromPhysicalJointsToActuatedAxeseVel).

I was wondering if it makes sense to already add evaluateJacobianFromPhysicalJointsToActuatedAxeseVel

[randaz81]

I think these methods should be moved to a new interface:
IJacobianXXX as virtual abstract.

• implementJointCoupling file will then not need any modification.

• The device that will have these capabilities will inherit from IJacobianXXX

• The user code will attempt to view the new interface. If not implemented the ->view() method will return false, allowing the user to detect if the device implements the interface or not.

[sonarqubecloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

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