dqrobotics/cpp

Implementation of raw_jacobian

Closed this issue · 2 comments

bvadorno commented

Hi, Murilo

I've just implemented the function raw_jacobian on Matlab and adapted the Jacobian function accordingly. The raw_jacobian calculates the Jacobian matrix without taking into consideration any constant base and end-effector displacements. In addition, following Juancho's request (Ticket 27 on SourceForge), now we have the option to use robot.jacobian(q, ith), which calculates the Jacobian up to the i-th link. Could you please implement those functionalities in C++?

Cheers,
Bruno

mmmarinho commented

Hello, Bruno,

Will do.
The "bug" label confused me a bit. Besides the additions, is there some bug I should look out for?

Kind regards,
Murilo

bvadorno commented

Hi, Murilo.

There is no bug. It's more like a feature request, although I feel that missing functions will eventually lead to a bug. To avoid confusion, I'll change the label.

Cheers,
Bruno