dqp_torque

Syntax

void dqp_torque(const ColumnVector & q, 
                const ColumnVector & qp,
                const ColumnVector & dqp, 
                ColumnVector & torque,
                ColumnVector & dtorque);

Description

This function computes

$$\mbox{\boldmath$ S_1(q, $}\dot{\mbox{\boldmath$ q $}}) \delta \dot{\mbox{\boldmath$ q $}}$$ (2.73)

Return Value

None (torque and dtorque are modified on output)