torque_cmd

Syntax

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);

Description

This function sets the output torque for the following desired end effector vector: acceleration, velocity, position, angular acceleration, angular velocity and angular position.

Return Value

Matrix