torque_novelocity

Syntax

ReturnMatrix torque_novelocity(const ColumnVector & q,
                               const ColumnVector & qpp);

ReturnMatrix torque_novelocity(const ColumnVector & q,
                               const ColumnVector & qpp,
                               const ColumnVector & Fext,
                               const ColumnVector & Next);

Description

This function computes $\mbox{\boldmath$ \tau $}$ from $\mbox{\boldmath$ q $}$ and $\ddot{\mbox{\boldmath$ q $}}$ when $\dot{\mbox{\boldmath$ q $}} = 0$ and gravity is set to zero.

Return Value

ColumnVector