novaphy.ik.IKJacobianType¶
String enum selecting how objective Jacobians are computed.
| Member | Value | Behavior |
|---|---|---|
IKJacobianType.ANALYTIC |
"analytic" |
Uses the hand-written spatial Jacobian for a compatible JointBodyBundle; a raw Model falls back to finite differences. |
IKJacobianType.FINITE_DIFF |
"finite_diff" |
Perturbs supported scalar coordinates and re-evaluates FK. |
NovaPhy has no autodiff IK infrastructure, so there are no AUTODIFF or
MIXED members. In JointBodyBundle mode, both paths implement only
Revolute/Prismatic columns; Ball/Free/D6 columns remain zero.