kinematics: a Jacobian entry point, supplied by every module - #4550

Merged

andypugh merged 9 commits into

LinuxCNC:masterfrom

grandixximo:kins-jacobian

Sep 27, 2026

Commits on Sep 21, 2026

kinematics: add an optional Jacobian entry point
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trtfuncs, 5axiskins, maxkins: supply the Jacobian
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058fe43
corexykins, rotatekins, rosekins, matrixkins, millturn, userkins: supply the Jacobian
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xyzab_tdr_kins, xyzacb_trsrn, xyzbca_trsrn: supply the Jacobian
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tripodkins, lineardeltakins, rotarydeltakins, genhexkins, pentakins: supply the Jacobian
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scarakins, scorbot-kins: supply the Jacobian
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genserkins: supply the Jacobian from its geometric one
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pumakins, three21kins: supply the Jacobian from the Denavit-Hartenberg chain
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tests: check the Jacobian of every module where it runs
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