Version: 2021.3
LanguageEnglish
  • C#

ArticulationBody.GetDenseJacobian

Suggest a change

Success!

Thank you for helping us improve the quality of Unity Documentation. Although we cannot accept all submissions, we do read each suggested change from our users and will make updates where applicable.

Close

Submission failed

For some reason your suggested change could not be submitted. Please <a>try again</a> in a few minutes. And thank you for taking the time to help us improve the quality of Unity Documentation.

Close

Cancel

Switch to Manual

Declaration

public int GetDenseJacobian(ref ArticulationJacobian jacobian);

Parameters

jacobian Supplied struct to read back and store Jacobian matrix values.

Returns

int Number of elements in Jacobian matrix.

Description

Calculates and writes dense Jacobian matrix of the articulation body hierarchy to the supplied struct.

This calculates dense Jacobian matrix of the entire articulation body hierarchy starting from root articulation body. Number of rows ArticulationJacobian.rows of the matrix is equal to the number of articulation bodies in hierarchy times 6: 3 rows of linear/positional DOF and 3 rows of angular/rotational DOF for each body. Number of columns ArticulationJacobian.columns of the matrix is equal to the total number of all joints degrees of freedom(DOF), plus 6 if ArticulationBody.immovable is false. Additional resources: index, ArticulationJacobian, GetDofStartIndices.