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Subsections

dtau_dqp

Syntax

ReturnMatrix dtau_dqp(const ColumnVector & q, 
                      const ColumnVector & qp);

Description

This function computes
$\displaystyle \frac{\partial \mbox{\boldmath$ \tau $}}{\partial \dot{\mbox{\boldmath$ q $}}}$ $\textstyle =$ $\displaystyle \mbox{\boldmath$ S_1(q, $}\dot{\mbox{\boldmath$ q $}})$ (2.75)

Return Value

Matrix



Richard Gourdeau 2004-07-06