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CompiledStepJacobians

phyz_diff::symbolic

Struct CompiledStepJacobians 

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pub struct CompiledStepJacobians { /* private fields */ }
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Compiled symbolic step Jacobians.

Caches compiled closures for evaluating all 5 Jacobian matrices. Reusable across different states for the same model topology.

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impl CompiledStepJacobians

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pub fn build(model: &Model) -> Self

Build compiled Jacobians for the given model.

This traces ABA + semi-implicit Euler symbolically, differentiates all outputs w.r.t. all inputs, simplifies, and compiles.

Only supports models with single-DOF joints (revolute/prismatic). Panics if any joint is multi-DOF.

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pub fn eval(&self, inputs: &[f64]) -> StepJacobians

Evaluate the Jacobians at a given state.

inputs layout: [q_0..q_nq, v_0..v_nv, ctrl_0..ctrl_nv]

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