Hi, I have met a problem when I try to solve Ex. 2-2. I got two different Jacobian matrices from dpdq in function estimate_linear_jacobian from GeneralizedCoordinatesRobotRepresentation.cpp and from IK_Solver.h when I run locomotion.app.
The following are two different matrices.
From GeneralizedCoordinatesRobotRepresentation.cpp:
and the result:
From IK_Solver.h:
and the result:
It seems that the Jacobian matrix that I get from IK_Solver is quite large, but I think these two matrices are supposed to be the same. Could you explain why it happens?
Hi, I have met a problem when I try to solve Ex. 2-2. I got two different Jacobian matrices from dpdq in function estimate_linear_jacobian from GeneralizedCoordinatesRobotRepresentation.cpp and from IK_Solver.h when I run locomotion.app. The following are two different matrices.
From GeneralizedCoordinatesRobotRepresentation.cpp:
and the result:
From IK_Solver.h:
and the result:
It seems that the Jacobian matrix that I get from IK_Solver is quite large, but I think these two matrices are supposed to be the same. Could you explain why it happens?