build_jacobian.py File Reference

Namespaces
	build_jacobian

Functions
def	build_jacobian.normalize (array)

Variables
	build_jacobian.r_n
	build_jacobian.r_ca
	build_jacobian.r_c
	build_jacobian.jacobian = zeros((4, 4))
	build_jacobian.r_1 = array([r_n[0], r_ca[0], r_n[1], r_ca[1], r_n[2], r_ca[2]])
	build_jacobian.r_2 = array([r_ca[0], r_c[0], r_ca[1], r_c[1], r_ca[2], r_c[2]])
def	build_jacobian.axis = normalize(r_2 - r_1)
	build_jacobian.cross_56 = cross(axis[4], axis[5])
	build_jacobian.distance = r_1[5] - r_1[i]
def	build_jacobian.direction = axis[i]
int	build_jacobian.result = 1 / abs(det(jacobian))