Clean up mass_matrix! and constraint_jacobian!
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* Add `*(::Transpose(A), ::B)` overloads involving `WrenchMatrix`, `MomentumMatrix`, and `GeometricJacobian` * Use these new overloads in `mass_matrix!` and `constraint_jacobian!` * add `supports` function and use it to further clean up `mass_matrix!` * Iterate directly over joint velocity indices in `mass_matrix!` and look up their corresponding `JointID`s, instead of first iterating over `JointIDs` and then over their `velocity_range`s. The last point above results in a bit of a speedup for `mass_matrix!`: Before: ``` minimum time: 5.930 μs (0.00% GC) median time: 6.028 μs (0.00% GC) mean time: 6.211 μs (0.00% GC) maximum time: 9.859 μs (0.00% GC) ``` After: ``` minimum time: 5.435 μs (0.00% GC) median time: 5.546 μs (0.00% GC) mean time: 5.741 μs (0.00% GC) maximum time: 9.264 μs (0.00% GC) ```
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*(::Transpose(A), ::B)overloads involvingWrenchMatrix,MomentumMatrix, andGeometricJacobianmass_matrix!andconstraint_jacobian!supportsfunction and use it to further clean upmass_matrix!mass_matrix!and look up their correspondingJointIDs, instead of first iterating overJointIDsand then over theirvelocity_ranges.The last point above results in a bit of a speedup for
mass_matrix!:Before:
After: