On 25 April 2015 at 08:02, cjaramillo <cjaramillo@gradcenter.cuny.edu> wrote:

I have a problem with my Jacobian matrices being non-homogeneous due to
being derived from variables of different units, such as when combining
rotation and translation parameters. Besides scaling the initial value by a
factor, do you have an example of how to scale down the pertaining Jacobian
matrices?

Scaling factors can be error prone when you have to propagate them. Usually, the safest way is to blame it on the units. So, in your case, you define the rotation angles in radians and the typical displacement to be 1 in your units (assuming the rotations are big, so around 1 rad).

This technique also works with any other mathematical problems, like differential equations or linear systems.

/David.