dq_torque

Syntax

void dq_torque(const ColumnVector & q, 
               const ColumnVector & qp,
               const ColumnVector & qpp, 
               const ColumnVector & dq,
               ColumnVector & torque, 
               ColumnVector & dtorque);

Description

This function computes

$$\mbox{\boldmath$ S_2(q, $}\dot{\mbox{\boldmath$ q $}},\ddot{\mbox{\boldmath$ q $}}) \delta \mbox{\boldmath$ q $}$$ (2.72)

Return Value

None (torque and dtorque are modified on output)