computeB method
Computes the right hand side of the SPOOK equation
Implementation
@override
double computeB(double h){
final b = this.b;
final axisA = this.axisA;
final axisB = this.axisB;
final ga = jacobianElementA;
final gb = jacobianElementB;
ga.rotational.copy(axisA);
axisB.negate(gb.rotational);
final gw = computeGW() - targetVelocity;
final giMf = computeGiMf();
final B = -gw * b - h * giMf;
return B;
}