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Geometric Jacobian for robot configuration

**Library:**Robotics System Toolbox / Manipulator Algorithms

The Get Jacobian block returns the geometric Jacobian relative to the
base for the specified end effector at the given configuration of a `RigidBodyTree`

robot model.

The Jacobian maps the joint-space velocity to the end-effector velocity relative to the base coordinate frame. The end-effector velocity equals:

$${V}_{EE}=\left[\begin{array}{c}{\omega}_{x}\\ {\omega}_{y}\\ {\omega}_{z}\\ {\nu}_{x}\\ {\nu}_{y}\\ {\nu}_{z}\end{array}\right]=J\dot{q}=J\left[\begin{array}{c}\begin{array}{c}{\dot{q}}_{1}\\ \vdots \end{array}\\ {\dot{q}}_{n}\end{array}\right]$$

*ω* is the angular velocity, *υ* is the linear
velocity, and $$\dot{q}$$ is the joint-space velocity.

- Forward Dynamics | Get Transform | Gravity Torque | Inverse Dynamics | Joint Space Mass Matrix | Velocity Product Torque