Emily Boudreaux 9417b79a32 feat(Jacobian): Jacobian generation is now stateless. ...

Previously Jacobians were stored by engines and accessed through engine
accessors (e.g getJacobianMatrixEntry); however, this resulted in
desynced jacobian states. We have changed to a pattern of Engine creates
a jacobian and returns it to the caller. The caller can then do what
they will with it. Because of this the getJacobianMatrixEntry method has
been removed.

BREAKING CHANGE:
    - There is no longer any getJacobianMatrixEntry method on
DynamicEngine classes
    - the generateJacobian method signature has changed to return a
NetworkJacobian object. Internally this uses an Eigen Sparse Matrix to
store its data.

2025-11-14 10:51:40 -05:00

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