After the formula of documents are used to rewrite elements of Jacobian matrix, the vector cross product is changed into the vector dot product in Jacobian matrix.
利用现有的公式对雅可比矩阵中的元素进行改写，将矢量叉乘变为矢量点乘。
After the formula of documents are used to rewrite elements of Jacobian matrix, the vector cross product is changed into the vector dot product in Jacobian matrix.
利用现有的公式对雅可比矩阵中的元素进行改写，将矢量叉乘变为矢量点乘。
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