Calculation of Jacobian in OROCOS

Hi,
If we have n dof manipulator, Can we calculate the Jacobian matrix for the 5
DOF as follows


J  =  [z0 x ( p-p0 )          z1 x ( p-p1)           z2 x ( p-p2)
z3 x ( p-p3)         z4 x ( p-p4);
           z0                      z1
z2                         z3                      z4              ];


where zi is given by the third column of the rotation matrix R_i_0 ie
Rotation of ith frame w.r.t. base frame.
where pi is given by the first three elements of 4th column of the
transformation matrix T_i_0 ie Transformation of ith frame to base frame.
 where p is given by the first three elements of 4th column of the
transformation matrix T_n_0 ie Transformation of last frame to base frame.

Regards
H.S.Randhawa

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