jacob_dot docs
@@ -2909,6 +2909,16 @@ class SerialLink(object):
Jqd = jacob_dot(q, qd) is the product (6) of the derivative of the
manipulator Jacobian (in the world frame) and the joint rates.
+ :param q: The joint angles/configuration of the robot (Optional,
+ if not supplied will use the stored q values).
+ :type q: float ndarray(n)
+ :param qd: The joint angles/configuration of the robot (Optional,
+ if not supplied will use the stored qd values).
+ :type qd: float ndarray(n)
+
+ :retrun Jdot: The derivative of the manipulator Jacobian
+ :rtype Jdot: float ndarray(n)
+
:notes:
- This term appears in the formulation for operational space
control xdd = J(q)qdd + Jdot(q)qd
