MATLAB File Help: HebiKinematics/getJacobian
  getJacobian calculates the matrix that relates input DoF 
  velocities to body velocities
    This method calculates the partial derivatives of the 
    kinematics equation, which relates the joint rates to the 
    linear and angular velocity of each body in the kinematic 
    The Jacobian is returned as a [6 x numDoF x numBodies] set 
    of matrices.  Rows 1:3 of the Jacobian correspond to linear 
    velocities [m/s] along the X-Y-Z axes in the world frame, 
    while rows 4:6 correspond to rotational velocities [rad/s] 
    about the X-Y-Z axes in the world frame.
    'FrameType' Argument
        'OutputFrame'      calculates the transforms to the output
                           of each body ('out')
        'CoMFrame'         calculates the transforms to the center
                           of mass of each body
        'EndEffectorFrame' calculates the transform to only the
                           output frame of the last body, e.g.,
                           a gripper
    'Position' Argument
        A [1 x numDoF] vector that specifies the position
        of each degree of freedom. Rotational positions are 
        specified in [rad].  Translational positions are 
        specified in [m].
        % End-Effector Jacobian using group feedback
        fbk = group.getNextFeedback();
        J = kin.getJacobian('endEffector', fbk.position);
See also
Method Details
Access public
Sealed false
Static false