Question about the Jacobians

[kulfer80]

Hi, first of all, thank you for providing the code explaining PGO.

I would like to ask you if you can provide some literature or explanation about analytical derivation of Jacobians (because I havent found any reasonable literature explaining that).
Thank you for your answer.

[gisbi-kim]

@kulfer80 Thx for the question.

I'm under writing some latex materials (though I still love to use the easy-to-generate, optimized, light-weight, symforce-based compiled symbolic Jacobian).

I'll notice you again :)