[p.deg]*x^p.deg and its three derivatives In
the length/norm of a three
of an orientation given by three
from three rotary joints [...] . The three joints 4, 5
from three column vectors
of three points [...] _Vector3D Second of three points [...] _Vector3D Third of three points
[pv.deg]*x^pv.deg and its three derivatives In
[iN]*x^iN and its three derivatives In
. For kinematics with three [...] than three degrees