derivative of jacobian

Discussion in 'Feature Requests' started by Junhyeok, Jul 28, 2017.

  1. Hello,
    I am wondering if I could get a derivative of jacobian of link CoM
    Thank you.
    Last edited: Jul 28, 2017
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    You would have to use a finite-difference approximation in the general case.
  3. As far as I believe, ...

    Jx = dx/dq
    dot Jx = dot [ dx/dq] = d/dq [ dot x] = d/dq [v] = Jv (define v = dot x, define dot = d/dt)

    Thus take Jacobian of velocity of com.