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cmower / optas

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.
https://cmower.github.io/optas/
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Add jacobian in robot model for homogenous transform #57

Closed cmower closed 1 year ago

cmower commented 1 year ago

The end-effector pose and joint states q are related by the forward kinematics, represented by the homogenous transform

  T(q) = [ x(q) | y(q) | z(q) | p(q) ]
         [    0      0      0      1 ]

The jacobian of p(q) in an arbitrary base frame is the linear Jacobian matrix, implemented here:

https://github.com/cmower/optas/blob/633aab3cde5cf6bc94054d1cdef8343d12f31c6d/optas/models.py#L710

It would be great to have similar functions for x, y, and z.

cmower commented 1 year ago

addressed in #61