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Subsections

delta_torque

Syntax 

void delta_torque(const ColumnVector & q, 
                  const ColumnVector & qp,
                  const ColumnVector & qpp, 
                  const ColumnVector & dq,
                  const ColumnVector & dqp, 
                  const ColumnVector & dqpp,
                  ColumnVector & torque, 
                  ColumnVector & dtorque);

Description

This function computes
$\displaystyle \delta \mbox{\boldmath$ \tau $}$ $\textstyle =$ $\displaystyle \mbox{\boldmath$ D(q) $} \delta \ddot{\mbox{\boldmath$ q $}} + \m... ...box{\boldmath$ q $}},\ddot{\mbox{\boldmath$ q $}}) \delta \mbox{\boldmath$ q $}$ (2.71)

Return Value

None (torque and dtorque are modified on output)


Richard Gourdeau 2004-07-06