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
More background on Jacobians and kinematics can be found at:
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.
'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 [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);