Computes Jacobian derivative times velocity vector
Useful for dealing with task space accelerations, since:
J * v = T
differentiate:
\dot{J} * v + J * \dot{v} = \dot{T}
This class computes \dot{J} * v (the convective term in this equation)
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.