[doc] Improve documentation of getJointJacobian. #2193
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florent-lamiraux
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Mar 28, 2024
stephane-caron
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Mar 28, 2024
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LGTM. In both paragraphs, I would mention A Mathematical Introduction to Robotic Manipulation so that readers who don't understand the sentence straight away have a pointer to go to.
fabinsch
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Co-authored-by: Stéphane Caron <stephane.caron@inria.fr>
jcarpent
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Mar 28, 2024
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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).