distance of point to line wrt point jacobian

[narutojxl]

Hi doctor qin, when we calculating the distance of point P0 to line(P1 - P2) wrt P0 jacobian, the jacobian why is this form?
Let we

How you get the formal like above,thanks very very much !

[ChaoqinRobotics]

Thanks for asking. I would provide a detailed derivation in the future. A littble bit busy in recent month : )

[narutojxl]

Thanks very much, looking forward!

[narutojxl]

Sorry, my mistake for writing the error formua of d, it shoule be like this:

The jacobian in code is correct, thanks @qin :)