RRFKJacobian::GetJacobianTranspose

const RRMatrix* GetJacobianTranspose(

int flag = 0 ) ;

If the value of flag = 0, then GetJacobianTranspose will compute the value of the jacobian and Jacobian transpose using the current state of the linkToBase transformation matrices.

If the value of the flag is anything else, it will simply return the current value of the existing Jacobian Transpose.