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finite_diff_jacobians

phyz_diff

Function finite_diff_jacobians 

Source 
pub fn finite_diff_jacobians(
    model: &Model,
    state: &State,
    eps: f64,
) -> StepJacobians
Expand description

Compute step Jacobians via finite differences.

Perturbs each component of (q, v, ctrl) and measures the change in (q’, v’) after a semi-implicit Euler step.