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Subsections
ReturnMatrix get_q(void);
Real get_q(const int i);
ReturnMatrix get_qp(void);
Real get_qp(const int i);
ReturnMatrix get_qp(void);
Real get_qp(const int i);
These functions return a column vector containing the joint variables
(get_q), velocities (get_qp) or accelerations
(get_qpp) when called with no argument. It returns the
scalar value for the
joint variable when called with an
integer argument.
ColumnVector or Real
Richard Gourdeau
2004-07-06