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Subsections

dtau_dq

Syntax

ReturnMatrix dtau_dq(const ColumnVector & q, 
                     const ColumnVector & qp,
                     const ColumnVector & qpp);

Description

This function computes
$\displaystyle \frac{\partial \mbox{\boldmath$ \tau $}}{\partial \mbox{\boldmath$ q $}}$ $\textstyle =$ $\displaystyle \mbox{\boldmath$ S_2(q, $}\dot{\mbox{\boldmath$ q $}},\ddot{\mbox{\boldmath$ q $}})$ (2.74)

Return Value

Matrix



Richard Gourdeau 2004-07-06