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