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Chain -> product.
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@moorepants
moorepants committed Jun 27, 2024
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Expand Up @@ -609,7 +609,7 @@ so, we make use of a useful fact:
diff_constraint.jacobian(qdd) - Mhn

This equality is true for all constraints, as can easily be shown by taking the
time derivative of the constraint equation, using the chain rule.
time derivative of the constraint equation, using the product rule.

The combined equations can now be written in a block matrix form:

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