text: #include "mwoibn/point_handling/linear_velocity.h"
  
  namespace mwoibn
  {
  namespace point_handling
  {
  
    const mwoibn::Matrix& LinearVelocity::getJacobian(bool update)  {
  
        _J.setZero();
  
        CalcPointJacobian(_model, _state.position.get(), _body_id, frame.position.getFixed(), _J,
                          update);
  
        return _J;
      }
  
  
    // mwoibn::Matrix LinearVelocity::getJacobian(bool update) const{
    //   mwoibn::Matrix J = mwoibn::Matrix::Zero(_J.rows(), _J.cols());
    //
    //   CalcPointJacobian(_model, _state.position.get(), _body_id, frame.position.getFixed(), J,
    //                     update);
    //
    //   return J;
    // }
  
    void LinearVelocity::getJacobian(mwoibn::Matrix& current, bool update) const{
      current.setZero();
  
      CalcPointJacobian(_model, _state.position.get(), _body_id, frame.position.getFixed(), current,
                        update);
    }
  
  
  } // namespace package
  } // namespace library
  