This PR adds the pose jacobian derivative in the DQ_Kinematic class

[juanjqo]

Main instructions

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• Anyone wanting to propose a new modification or introduce new functionality should reach out to the team first, as proposed modifications that do not comply with the library's development philosophy and style, do not follow the library's architecture, do not introduce a clear and general benefit to the library other than to the person who proposed the modification will likely be rejected with no further discussion.
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Description of changes

This PR adds the abstract method pose_jacobian_derivative() in the DQ_Kinematics class. The subclasses implement the respective concrete methods, but an exception is thrown if the user tries to use them. In other words, the concrete methods are not yet available to the user (except for the DQ_SerialManipulator class, in which the pose_jacobian_derivative method is implemented since 4ada8bb). The concrete implementations for each subclass will be proposed in future PRs.

Current:

Proposal:

Rationale

• This is one of the pending tasks defined in developers-playground.

• This modification was implemented in the C++ version in This PR adds the pose_jacobian_derivative method in the DQ_Kinematics class. cpp#48

• The pose_jacobian_derivative() method is a requirement for the future Gauss Principle of Least Constraint solver.

Kind regards,

Juancho

[bvadorno]

Thanks, @juanjqo. Could you please fix the minor issues I've indicated?

Many thanks,
Bruno

[juanjqo]

Thanks, @juanjqo. Could you please fix the minor issues I've indicated?

Many thanks, Bruno

Hi @bvadorno,

I updated your email. =)

Kind regards,

Juancho