Should Pinocchio deprecate getKKTContactDynamicMatrixInverse?

[cmastalli]

Hi guys!

The getKKTContactDynamicMatrixInverse is a deprecated version in the latest version. Is there a reason to deprecate this function?

For instance, it is a useful function we use in Crocoddyl when computing the impulse-dynamics derivatives (see https://github.com/loco-3d/crocoddyl/blob/master/include/crocoddyl/multibody/actions/impulse-fwddyn.hxx#L231-L238). Moreover, replacing this function by computeKKTContactDynamicMatrixInverse would lead to inefficiencies in our code.

Without considering the details of Pinocchio's development strategy, I would suggest not deprecating it. It

Thanks in advance for your support.