Figure 4.

Sampling distributions on manifold charts. Top: abstract illustration of how analytical IK implicitly decomposes a 1-parameter manifold M into a set of local bijections (charts). Bottom: the Jacobian of a chart must be taken into account when calculating the sampling distribution Q over M.

Zhang and Hauser BMC Structural Biology 2013 13(Suppl 1):S9   doi:10.1186/1472-6807-13-S1-S9