MATLAB File Help: HebiKinematics/getJacobian
HebiKinematics/getJacobian
  getJacobian calculates the matrix that relates input joint
  velocities to body velocities.
 
    This method calculates the partial derivatives of the
    kinematics equation, which relates the joint velocities to
    the linear and angular velocities of each body in the
    kinematic chain.
 
    More background on Jacobians and kinematics can be found at:
    http://docs.hebi.us/core_concepts.html#kinematics
 
    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].
 
     Example
        % 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