Function pfield::J_from_q

• Defined in File geofik.h

Function Documentation

array<array<double, 6>, 7> pfield::J_from_q(const array<double, 7> &q, const char ee = 'E')

Computes the Jacobian given the joint angles.

Parameters:

• q – joint angles, name of ee frame.

• ee – [optional] Name of ee frame (‘E’, ‘F’, ‘8’, …,’1’).

Returns:

transpose of J.