03-28-2013 09:38 AM
03-28-2013 10:19 AM
What does your normal matrix look like? The jacobian is just a derivative of your matrix. So if you take the derivative of your matrix using the position variables, you will simply get a new matrix that you can now just put in your values just like the original.
03-28-2013 12:14 PM
03-28-2013 12:42 PM
The jacobian is the matrix of all first order derivatives of a function with respect to another vector. What kind of function do you have? Are you looking for an analytical solution ir a numerical approximation?
For the math itself, all you need to do is follow wikipedia.