ReturnMatrix torque(const ColumnVector & q, const ColumnVector & qp, const ColumnVector & qpp); ReturnMatrix torque(const ColumnVector & q, const ColumnVector & qp, const ColumnVector & qpp, const ColumnVector & Fext, const ColumnVector & Next);
This function computes
from
,
and
which is the inverse dynamics
problem. The recursive Newton-Euler (RNE) formulation is one of the
most computationally efficient algorithm [12,13] used to
solve this problem (see appendix A). The second form
allows the inclusion the contribution of a load applied at the last link.
ColumnVector