Packs the linear acceleration of a point that is fixed in bodyFrame but is expressed in baseFrame,
with respect to baseFrame, expressed in expressedInFrame
Packs the linear velocity of a point that is fixed in bodyFrame but is expressed in baseFrame,
with respect to baseFrame, expressed in expressedInFrame
Jacobian that maps joint velocities to the velocity of a point fixed
to the end effector of a GeometricJacobian, with respect to the base
of the GeometricJacobian, expressed in base frame.