diff --git a/.gitignore b/.gitignore
index 8f3da62..7209543 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,28 @@
-*.autosave
+# Windows default autosave extension
+*.asv
+
+# OSX / *nix default autosave extension
+*.m~
+
+# Compiled MEX binaries (all platforms)
+*.mex*
+
+# Packaged app and toolbox files 
+*.mlappinstall 
+*.mltbx 
+  
+# Generated helpsearch folders 
+helpsearch*/ 
+
+# Simulink code generation folders
 slprj/
+sccprj/
+
+# Simulink autosave extension
+*.autosave
+
+# Octave session info
+octave-workspace
+
+# Custom
+stewart_displacement_grt_rtw/
diff --git a/getJacobianMatrix.m b/getJacobianMatrix.m
index c437493..3f3bdef 100644
--- a/getJacobianMatrix.m
+++ b/getJacobianMatrix.m
@@ -1,18 +1,7 @@
 function J  = getJacobianMatrix(RM,M_pos_base)
+    % RM: [3x6] unit vector of each leg in the fixed frame
+    % M_pos_base: [3x6] vector of the leg connection at the top platform location in the fixed frame
     J = zeros(6);
-
-    J(:, 1:3) = RM;
-    for i = 1:6
-        J(i, 4:6) = -RM(i, :)*getCrossProductMatrix(M_pos_base(i, :));
-    end
-
-    function M = getCrossProductMatrix(v)
-        M = zeros(3);
-        M(1, 2) = -v(3);
-        M(1, 3) =  v(2);
-        M(2, 3) = -v(1);
-        M(2, 1) = -M(1, 2);
-        M(3, 1) = -M(1, 3);
-        M(3, 2) = -M(2, 3);
-    end
+    J(:, 1:3) = RM';
+    J(:, 4:6) = cross(M_pos_base, RM)';
 end