Multibody full Jacobian?

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cloud9
Posts: 5
Joined: Sat Nov 19, 2016 9:47 am

Multibody full Jacobian?

Post by cloud9 »

Hi,

Is there a way to get the full Jacobian, all I can see are the MultiBodyImpl::getBodyJacobian's, which I take to mean a sub branch of the whole, great for if you want to do Jacobian transpose control or something.
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