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how can I calculate the jacobian matrix please !!

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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.


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thank you 🙂
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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.

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