tr2jac

Jacobian for differential motion

J = TR2JAC(TAB) is a Jacobian matrix (6×6) that maps spatial velocity or differential motion from frame {A} to frame {B} where the pose of {B} relative to {A} is represented by the homogeneous transform TAB (4×4).

J = TR2JAC(TAB, 'samebody') is a Jacobian matrix (6×6) that maps spatial velocity or differential motion from frame {A} to frame {B} where both are attached to the same moving body. The pose of {B} relative to {A} is represented by the homogeneous transform TAB (4×4).

See also

wtrans, tr2delta, delta2tr, SE3.velxform

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