"update_kinematics (true = update the value of the total jacobian)"),
"Computes the jacobian of a given given joint according to the given input configuration."
"If local is set to true, it returns the jacobian associated to the joint frame. Otherwise, it returns the jacobian of the frame coinciding with the world frame.");
bp::args("Model, the model of the kinematic tree",
"Data, the data associated to the model where the results are stored",
"Joint ID, the index of the joint.",
"frame (true = local, false = world)"),
"Computes the Jacobian time variation of a specific joint frame expressed either in the world frame or in the local frame of the joint."
"You have to run computeJacobiansTimeVariation first."
"If local is set to true, it returns the jacobian time variation associated to the joint frame. Otherwise, it returns the jacobian time variation of the frame coinciding with the world frame.");