This was carved out of a larger, abandoned PR (#21644). It's somewhat of a hodge-podge:
Clarify that inertia getters only depend on Parameters.
Clarify that some mobilizer functions only depend on a subset of the entire Context.
Clean up MbP using statements.
The purpose of the first two changes is that me as a developer working on MbP could not easily reason through the code. By better documenting our assumptions in API contracts, it lets us more quickly understand what each piece of MbP/MbT/MbTS is doing.
This was carved out of a larger, abandoned PR (#21644). It's somewhat of a hodge-podge:
The purpose of the first two changes is that me as a developer working on MbP could not easily reason through the code. By better documenting our assumptions in API contracts, it lets us more quickly understand what each piece of MbP/MbT/MbTS is doing.
This change is