Add Jacobian getters to Skeleton #357
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* The column sizes of Jacobians are the number of total dofs of the Skeleton
jslee02
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Mar 21, 2015
Add Jacobian getters to Skeleton
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BodyNode::getJacobian()returns (6 x m) matrix where m is the number of dependent dofs of the BodyNode whileSkeleton::getJacobian()returns (6 x n) matrix where n is the number of total dofs of the Skeleton.