/** Computes the Jacobian. */ public void compute() { int column = 0; for (int i = 0; i < unitTwistList.size(); i++) { Twist twist = unitTwistList.get(i); tempTwist.set(twist); tempTwist.changeFrame(jacobianFrame); tempTwist.getMatrix(tempMatrix, 0); CommonOps.extract( tempMatrix, 0, tempMatrix.getNumRows(), 0, tempMatrix.getNumCols(), jacobian, 0, column++); } }