control

Syntax

short control(const ColumnVector & pdpp, const ColumnVector & pdp,
              const ColumnVector & pd, const ColumnVector & wdp,
              const ColumnVector & wd, const Quaternion & qd, 
              const ColumnVector & f, const ColumnVector & n,
              const Real dt);

Description

This function generate the compliant trajectory for a desired trajectory.

Return Value

Status, as a short int.

0 successful

WRONG_SIZE (regarding the input vector)