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Subsections

$K_d$, $K_p$

Syntax

short set_Kd(const DiagonalMatrix & Kd);
short set_Kp(const DiagonalMatrix & Kp);

Description

These functions sets the joint position error gain matrix, $K_d$, and the joint velocity error gain matrix, $K_p$.

Return Value

Status, as a short int.

0 successful
WRONG_SIZE (regarding the input vector)



Richard Gourdeau 2004-07-06