Module jacobian 

This package provides support for the Jacobian matrix.

The Jacobian matrix, as described here, represents the relationship between the joint velocities and the end-effector velocities:

 | ∂vx/∂θ₁  ∂vx/∂θ₂  ∂vx/∂θ₃  ∂vx/∂θ₄  ∂vx/∂θ₅  ∂vx/∂θ₆ |
 | ∂vy/∂θ₁  ∂vy/∂θ₂  ∂vy/∂θ₃  ∂vy/∂θ₄  ∂vy/∂θ₅  ∂vy/∂θ₆ |
 | ∂vz/∂θ₁  ∂vz/∂θ₂  ∂vz/∂θ₃  ∂vz/∂θ₄  ∂vz/∂θ₅  ∂vz/∂θ₆ |
 | ∂ωx/∂θ₁  ∂ωx/∂θ₂  ∂ωx/∂θ₃  ∂ωx/∂θ₄  ∂ωx/∂θ₅  ∂ωx/∂θ₆ |
 | ∂ωy/∂θ₁  ∂ωy/∂θ₂  ∂ωy/∂θ₃  ∂ωy/∂θ₄  ∂ωy/∂θ₅  ∂ωy/∂θ₆ |
 | ∂ωz/∂θ₁  ∂ωz/∂θ₂  ∂ωz/∂θ₃  ∂ωz/∂θ₄  ∂ωz/∂θ₅  ∂ωz/∂θ₆ |

The first three rows correspond to the linear velocities: vx, vy, vz. The last three rows correspond to the angular velocities: roll (ωx), pitch (ωy), and yaw (ωz). θ₁, θ₂, θ₃, θ₄, θ₅, θ₆ are the joint angles. ∂ denotes a partial derivative.

Structs

Jacobian

This structure holds Jacobian matrix and provides methods to extract velocity and torgue information from it.