• Jacobian[cnum, bnum] returns the submatrix of the current Jacobian associated with constraint cnum and body bnum.
• The cnum argument can take any of the forms accepted by Constraints to obtain Jacobian terms from multiple constraints.
• The bnum argument can take any of the forms accepted by Loads to obtain Jacobian terms from multiple bodies.
• Jacobian[All, All] returns the entire Jacobian matrix.
• See also: Constraint.
Load the Modeler2D package and define a simple model.
Here are the entire rows of the Jacobian matrix associated with the Translate2 constraint.
Here are the rows associated with multiple constraints and columns associated with multiple bodies.