Jacobian computation
Issue #92
duplicate
tao_dyn_->calculateJacobian(tao_dyn_->getIdForLink("Body"),Eigen::Vector3d(0,0,0),J06);
Using just Eigen::Vector3d as the argument for position information gives a wrong jacobian. The function probably takes in a VectorXd since replacing the argument with the product of Eigen::Affine3d and Eigen::Vector3d(0,0,0) works fine.
Comments (2)
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repo owner
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repo owner
- changed status to duplicate
Duplicate of
#97. - Log in to comment
The function does take an Xd. There seems to be a more general issue with the jacobian while using offsets. Underlying code in jspace and tao is probably buggy. Will move comments into another bug.
Thx for reporting!