After several discussions about Jacobians and ReferenceFrames, and the nice improvement of the doc string #2190, I propose to fix and improve the docstring of getJointJacobian.
This doc string did not render properly due to some missing \f in front of $. While adding it, I tried to add further details about the calculated quantities and be verbose about their meaning.
After several discussions about Jacobians and ReferenceFrames, and the nice improvement of the doc string #2190, I propose to fix and improve the docstring of
getJointJacobian.This doc string did not render properly due to some missing
\fin front of$. While adding it, I tried to add further details about the calculated quantities and be verbose about their meaning.For more rigorous mathematical details, we could also refer to A Mathematical Introduction to Robotic Manipulation by Murray, Li and Sastry (thanks for the pointer @stephane-caron).