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d3.v3.min.js

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  • jacobian_foot.m 460 B
    function J = jacobian_foot(in1,in2)
    %JACOBIAN_FOOT
    %    J = JACOBIAN_FOOT(IN1,IN2)
    
    %    This function was generated by the Symbolic Math Toolbox version 8.7.
    %    02-Dec-2021 21:48:14
    
    l_AC = in2(22,:);
    l_DE = in2(23,:);
    l_OB = in2(21,:);
    th1 = in1(1,:);
    th2 = in1(2,:);
    t2 = cos(th1);
    t3 = sin(th1);
    t4 = th1+th2;
    t5 = cos(t4);
    t6 = sin(t4);
    t7 = l_AC.*t5;
    t8 = l_AC.*t6;
    J = reshape([t7+l_DE.*t2+l_OB.*t2,t8+l_DE.*t3+l_OB.*t3,t7,t8,1.0,0.0,0.0,1.0],[2,4]);