[WIP] Create MapQDDotToAcceleration() for RPY ball mobilizer. #22741
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mitiguy
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priority: medium
status: do not review
release notes: none
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This is one in a series of PRs to help address issue #22630. It creates MapQDDotToAcceleration() and MapAccelerationToQDDot() for an RPY ball mobilizer.
PR #22698 was already merged to handle simple mobilizers. Subsequent PRs will create helper methods for other complex mobilizers (e.g., curvilinear_mobilizer, quaternion_floating_mobilizer, etc.). There may be additional PRs to consolidate creation and improve the efficient of the N(q) and N⁺(q) matrices that are shared between MapQDotToVelocity() and MapQDDotToAcceleration() as well as MapVelocityToQDDot() and MapAccelerationToQDDot().
FYI: Since mobilizers are Drake internal classes, after the internal mobilizer work is complete, there will be PRs (code and testing) for the public API in MultibodyPlant to address issue #22630.
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