[jskeus/irtmodel.l] Add comment about joint order for jacobian #335
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| @@ -1088,6 +1088,14 @@ | |||
| (tmp-m33 (make-matrix 3 3)) | |||
| &allow-other-keys) | |||
| "Calculate jacobian matrix from link-list and move-target. Unit system is [m] or [rad], not [mm] or [deg]." | |||
| "Joint order for this jacobian matrix follows link-list order. Joint torque[Nm] order is also the same. | |||
| ;; Ex1. One-Arm | |||
|
Erased |
|
LGTM. |
snozawa
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Jan 8, 2016
…acobian [jskeus/irtmodel.l] Add comment about joint order for jacobian
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Added comment about joint order definition for :calc-jacobian-from-link-list