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ReturnMatrix torque_cmd(Robot_basic & robot, const ColumnVector & pdpp,
const ColumnVector & pdp, const ColumnVector & pd,
const ColumnVector & wdp, const ColumnVector & wd,
const Quaternion & qd, const short link_pc,
const Real dt);
This function sets the output torque for the following desired end
effector vector: acceleration, velocity, position, angular
acceleration, angular velocity and angular position.
Matrix
Richard Gourdeau
2004-07-06