Second derivative of the Jacobian with respect to time

[Linjackffy]

I want to implement a controller that constrains Cartesian Jerk using the Pinocchio library.
$$J = \ddot{J}(q,\dot{q},\ddot{q})\dot{q}+2\dot{J}(q,\dot{q})\ddot{q}+J(q)\dddot{q}$$.
After reviewing the pinocchio_cheat_sheet and the relevant documentation, I only found functions for $$J$$ and $$\dot{J}$$.
Can I use the existing functions in Pinocchio to calculate $$\ddot{J}$$?
Any suggestions or guidance would be greatly appreciated!

P.S. There is an error in the pinocchio_cheat_sheet.tex.

pinocchio/doc/pinocchio_cheat_sheet.tex

Line 260 in 4e13260

partial derivatives of the spatial acceleration & \texttt{pin.getFrameVelocityDerivatives(model, data, frame\_id, ref\_frame)} \\