simIK.getJacobian problem

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huihui
Posts: 15
Joined: 15 Apr 2022, 08:51

simIK.getJacobian problem

Post by huihui »

I want to know the return value of the function is [Jv;Jw] or [Jw;Jv]?The right order of the return value?

huihui
Posts: 15
Joined: 15 Apr 2022, 08:51

Re: simIK.getJacobian problem

Post by huihui »

huihui wrote: 21 May 2022, 15:17 I want to know the return value of the function is [Jv;Jw] or [Jw;Jv]?The right order of the return value?
And how to make the return value as a matrix(the useful matrix Jacobian form)?

fferri
Posts: 1193
Joined: 09 Sep 2013, 19:28

Re: simIK.getJacobian problem

Post by fferri »

you can use the CoppeliaSim's Matrix class in Lua:

Code: Select all

m=Matrix(2,3,{101,0,5,102,-3,0})
m:print()
--  101   0  5
--  102  -3  0
documentation is here: https://github.com/CoppeliaRobotics/lua ... /matrix.md

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