skrobot.coordinates.math.sr_inverse_org¶
- skrobot.coordinates.math.sr_inverse_org(J, k=1.0)[source]¶
Return SR-inverse of given J
Definition of SR-inverse is following.
\(J^* = J^T(JJ^T + kI_m)^{-1}\)
- Parameters:
J (numpy.ndarray) – jacobian
k (float) – coefficients
- Returns:
sr_inverse – calculated SR-inverse
- Return type: