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ReturnMatrix kine_pd(const int ref=0);
void kine_pd(Matrix & Rot, ColumnVector & pos,
ColumnVector & pos_dot, const int ref=0);
The forward kinematic model is provided by implementing
the following recursion (similar to kine):
 |
|
|
(2.60) |
where
Matrix or None (in this case Rot, pos pos_dot are modified on output)
Richard Gourdeau
2004-07-06