Regular API function

simComputeJacobian / sim.computeJacobian

Description
DEPRECATED. Use the kinematic plugin functionality instead.

Computes the Jacobian of a registered IK group. The result can then be read via sim.getIkGroupMatrix.
C/C++
synopsis
simInt simComputeJacobian(simInt ikGroupHandle,simInt options,simVoid* reserved)
C/C++
parameters
ikGroupHandle: handle of the IK group. See also simGetIkGroupHandle.
options: bit-coded:
bit0 set (1): the joint IK weights are taken into account.
reserved: reserved for future extensions. Set to nullptr.
C/C++
return value
-1 if operation failed
Lua synopsis sim.computeJacobian(int ikGroupHandle,int options)
Lua parameters
Similar to the C-function counterpart
Lua return values