Version: Unity 6 Preview (6000.0)
LanguageEnglish
  • C#

ArticulationJacobian

struct in UnityEngine

/

Implemented in:UnityEngine.PhysicsModule

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

Description

The floating point dense Jacobian matrix of the articulation body hierarchy.

Jacobian matrix is important concept used in robotics and inverse kinematics. Multiplication with the Jacobian matrix maps the reduced coordinate space joint velocities of the articulated body to world space velocities. Also can be used for inverse kinematics, because it can provide relation between joint velocities and end effector velocities of the articulated body. Additional resources: ArticulationBody.GetDenseJacobian.

Properties

columnsNumber of columns of the matrix is equal to the total number of all joint degrees of freedom(DOF), plus 6 if ArticulationBody.immovable is false.
elementsList of floats representing Jacobian matrix.
rowsNumber of 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.
this[int,int]Gets the [row, col] element of the matrix.

Constructors

ArticulationJacobianInitializes nRows X nCols Jacobian matrix to zeroes.