[WIP] MapQDDotToAcceleration() and MapAccelerationToQDDot() for rpy mobilizer. #23092
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mitiguy
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priority: medium
status: do not review
release notes: none
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This is one in a series of PRs to help address issue #22630. It creates DoMapAccelerationToQDDot() and DoMapQDDotToAcceleration() for an RPY ball mobilizer.
PR #22698 was already merged to handle simple mobilizers for the aforementioned methods. Subsequent PRs will create similar functions for other complex mobilizers (e.g., quaternion_floating_mobilizer).
FYI: Since mobilizers are Drake internal classes, after the internal mobilizer work is complete, there will be PRs (code and testing) for the public API in MultibodyPlant to address issue #22630.
This change is