Regular API
function
simComputeJacobian / sim.computeJacobian
Description
Computes the Jacobian of a registered IK group. The result can then be read via
sim.getIkGroupMatrix
. See also
sim.handleIkGroup
and
sim.checkIkGroup
.
C synopsis
simInt simComputeJacobian(simInt ikGroupHandle,simInt options,simVoid* reserved)
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 NULL.
C return value
-1 if operation failed
Lua synopsis
number result=sim.computeJacobian(number ikGroupHandle,number options)
Lua parameters
Same as C-function
Lua return values
Same as C-function
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